d31b0801d1252e2a8fddedf8d73c51719b33db4ad22eebc47b5016ceef98cefd

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the medium green bottle with capped neck, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the green bottle with indented base, lift at least 15cm, then move horizontally toward target.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the smooth green plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the smooth green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the medium green bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the medium green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the medium green bottle with capped neck, lift 15cm or more, then move it level toward target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the bottle with white printed label, lift 15cm minimum, then move horizontally to target.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the handheld green bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the smooth green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with rounded neck, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the bottle with rounded neck up, lift 15cm, then shift it horizontally to target.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the green bottle with indented base, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with rounded neck, lift at least 15cm, then move horizontally toward target.",
+    "Take the smooth green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with ridges near base, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the medium green bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with white printed label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the smooth green plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the medium green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with rounded neck, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the medium-sized green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the green bottle with indented base, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with white printed label, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium green bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the medium green bottle with capped neck 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the medium green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with white printed label, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the bottle with rounded neck, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the handheld green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the smooth green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the medium green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Pick up the green bottle with indented base, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the medium green bottle with capped neck, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the green bottle with indented base, lift 15cm minimum, then move horizontally to target.",
+    "Hold the bottle with rounded neck, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the medium green bottle with capped neck, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium green bottle with capped neck, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the bottle with narrow top 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the plastic bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the bottle with ridges near base up, lift 15cm, then shift it horizontally to target.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the smooth green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with narrow top, lift at least 15cm, then move horizontally toward target.",
+    "Take the bottle with ridges near base, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with rounded neck, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the handheld green bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with narrow top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with narrow top, raise it 15cm, then move it flat across to target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the medium green bottle with capped neck, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the bottle with white printed label, lift 15cm minimum, then move horizontally to target.",
+    "Hold the smooth green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the bottle with rounded neck, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the smooth green plastic bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the bottle with narrow top up, lift 15cm, then shift it horizontally to target.",
+    "Take the medium green bottle with capped neck, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the bottle with rounded neck, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Take the medium-sized green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the plastic bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the medium-sized green bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the bottle with white printed label, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Grab the medium green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the smooth green plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the green bottle with indented base, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium-sized green bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the bottle with white printed label 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the green bottle with indented base, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "With the left arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the narrow-necked bottle, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the left arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Secure the narrow-necked bottle, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the left arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the Coca-Cola bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the right arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the red-capped bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the plastic drink bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with ridges on bottom using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the right arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Secure the hand-sized soda bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with ridges on bottom using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with white printed label, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium green bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the green bottle with indented base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the medium-sized green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium green bottle with capped neck, raise it 15cm, then move it flat across to target.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the bottle with white printed label, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the green bottle with indented base, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the smooth green plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with rounded neck, raise it 15cm, then carry it sideways to the target position.",
+    "Control the left arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with rounded neck, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the handheld green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the smooth green plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the bottle with ridges near base up, lift 15cm, then shift it horizontally to target.",
+    "Grab the green bottle with indented base, raise it 15cm, then move it flat across to target.",
+    "Take the green bottle with indented base, lift it at least 15cm, then slide it across to target.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the medium-sized green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the bottle with narrow top, lift 15cm, and carry it horizontally to target.",
+    "Take the bottle with rounded neck, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the smooth green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Control the left arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target.",
+    "Pick up the green bottle with indented base, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the medium green bottle with capped neck 15cm after grabbing, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the bottle with ridges near base, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the bottle with narrow top, lift it 15cm, then shift it straight across to target.",
+    "Grab the smooth green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the bottle with narrow top up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges near base, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Grip the plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the medium green bottle with capped neck, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the green bottle with indented base, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the bottle with rounded neck, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with narrow top, raise it 15cm, then carry it sideways to the target position.",
+    "Control the left arm to grasp the plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with ridges near base, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the bottle with ridges near base 15cm after grabbing, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with ridges near base, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the bottle with ridges near base, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the bottle with rounded neck up, lift 15cm, then shift it horizontally to target.",
+    "Grab the green bottle with indented base, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the bottle with rounded neck, lift 15cm, and carry it horizontally to target.",
+    "Take the medium-sized green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the medium green bottle with capped neck, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with white printed label, raise it 15cm, then carry it sideways to the target position.",
+    "Control the left arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Pick up the green bottle with indented base, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the left arm, grip the green bottle with indented base, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the medium-sized green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the smooth green plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium green bottle with capped neck, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with ridges near base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the smooth green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium-sized green bottle, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the bottle with white printed label, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the bottle with ridges near base, lift 15cm, and carry it horizontally to target.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with white printed label, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with rounded neck, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with narrow top, raise it 15cm, then carry it sideways to the target position.",
+    "Control the left arm to grasp the smooth green bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with rounded neck, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the bottle with rounded neck 15cm after grabbing, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the medium green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the left arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, pick the medium dark brown bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the medium dark brown bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the green bottle with indented base, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the smooth green bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with rounded neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the medium-sized green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the bottle with white printed label, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with rounded neck, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "Grab the medium green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the medium green bottle with capped neck, lift it 15cm, then shift it straight across to target.",
+    "Using the right arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the bottle with ridges near base, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium-sized green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the bottle with ridges near base 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Select the right arm, take the handheld green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the bottle with rounded neck, raise it 15cm, then move it flat across to target.",
+    "Take the medium-sized green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with narrow top, lift at least 15cm, then move horizontally toward target.",
+    "Grab the plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the smooth green plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with narrow top, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the bottle with narrow top, lift 15cm, then move it sideways to target.",
+    "Grab the handheld green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the bottle with rounded neck, lift it 15cm, then shift it straight across to target.",
+    "Using the right arm, lift the medium green bottle with capped neck 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the smooth green plastic bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Select the right arm, take the bottle with rounded neck, lift it 15cm, and carry it horizontally to target.",
+    "Grab the plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with narrow top, lift at least 15cm, then move horizontally toward target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the smooth green bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the smooth green plastic bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the handheld green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Pick up the medium-sized green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges near base, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the bottle with ridges near base, lift it 15cm, then shift it straight across to target.",
+    "Using the right arm, lift the medium green bottle with capped neck 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the bottle with narrow top 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the medium-sized green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the right arm, take the handheld green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the medium-sized green bottle, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with white printed label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with narrow top, lift at least 15cm, then move horizontally toward target.",
+    "Grab the handheld green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the smooth green plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the handheld green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the bottle with narrow top, lift 15cm or more, then move it level toward target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the bottle with narrow top, lift 15cm, then move it sideways to target.",
+    "Grab the medium green bottle with capped neck, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Using the right arm, lift the medium green bottle with capped neck 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the medium green bottle with capped neck, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the bottle with narrow top 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the handheld green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the right arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "Grab the green bottle with indented base, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with white printed label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the bottle with ridges near base, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the bottle with rounded neck up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the bottle with narrow top, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the bottle with white printed label, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with narrow top, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the smooth green bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with white printed label, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the medium green bottle, lift it 15cm, then shift it straight across to target.",
+    "Using the right arm, lift the bottle with narrow top 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the bottle with rounded neck, lift 15cm, then shift it horizontally to target.",
+    "Grab the plastic bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with narrow top, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the smooth green bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the bottle with white printed label, lift 15cm minimum, then move horizontally to target.",
+    "Select the right arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "Grab the smooth green plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the smooth green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the bottle with white printed label, lift it at least 15cm, then slide it across to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, secure the medium green bottle, lift 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "Secure the medium-sized green bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the medium-sized green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the handheld green bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the bottle with rounded neck, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the left arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with rounded neck, raise it 15cm, then move it flat across to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, pick the medium green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the medium green bottle with capped neck 15cm after grasping, then move horizontally to target.",
+    "Grab the green bottle with indented base, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the bottle with white printed label, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white printed label, raise 15cm, and shift it sideways to the target spot.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with white printed label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, secure the plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Secure the plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the bottle with ridges near base, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the medium green bottle with capped neck, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the bottle with white printed label, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges near base, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the left arm to lift the bottle with white printed label 15cm after grabbing, then move horizontally to target.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with narrow top, raise it 15cm, then move it flat across to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, pick the bottle with rounded neck up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the medium-sized green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with white printed label, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, secure the bottle with white printed label, lift 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the smooth green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with ridges near base, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the handheld green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the medium green bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the smooth green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with rounded neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the left arm to lift the bottle with ridges near base 15cm after grabbing, then move horizontally to target.",
+    "Hold the bottle with rounded neck, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the medium green bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, pick the smooth green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with white printed label 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with narrow top, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the bottle with ridges near base, lift it at least 15cm, then slide it across to target.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth green plastic bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, secure the bottle with ridges near base, lift 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the medium green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the green bottle with indented base, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the green bottle with indented base, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the left arm to lift the bottle with ridges near base 15cm after grabbing, then move horizontally to target.",
+    "Hold the green bottle with indented base, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the smooth green bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with narrow top, raise 15cm, and shift it sideways to the target spot.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the medium green bottle with capped neck, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the smooth green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with narrow top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, secure the smooth green bottle, lift 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the medium-sized green bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm: grasp the medium-sized green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the left arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Grab the smooth green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, pick the plastic bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green bottle, lift it 15cm, then move it horizontally toward the target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the medium dark brown bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium dark brown bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot."
+  ],
+  "unseen": [
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Grab the bottle with white neck and red top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Grab the hand-sized soda bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Using the right arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the narrow-necked bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Grab the smooth bottle with red lid using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Using the right arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Use the left arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Use the left arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Grab the medium dark brown bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with ridges on bottom using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "With the right arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Select the right arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the Coca-Cola bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "With the right arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the right arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Choose the right arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the plastic drink bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "With the right arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Select the right arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the long thin bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "With the right arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the right arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Choose the right arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with ridges on bottom using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "With the right arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Select the right arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target."
+  ],
+  "unseen": [
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Control the left arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the medium dark brown bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Control the left arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Grab the medium dark brown bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the hand-sized soda bottle, lift it 15cm, then shift it straight across to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode20.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Using the left arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, pick the medium dark brown bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the hand-sized soda bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the right arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the right arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the right arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the right arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the right arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Choose the right arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with white neck and red top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode22.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the bottle with rounded neck, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium green bottle with capped neck, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the bottle with narrow top, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the smooth green plastic bottle, lift 15cm, then move it sideways to target.",
+    "Grab the green bottle with indented base, lift it 15cm, then move it horizontally toward the target.",
+    "Hold the medium green bottle with capped neck, raise it 15cm, then carry it sideways to the target position.",
+    "Take the bottle with white printed label, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the medium green bottle with capped neck using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with narrow top, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the green bottle with indented base up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with rounded neck, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the green bottle with indented base, lift 15cm, then shift it horizontally to target.",
+    "Use the left arm to lift the bottle with narrow top 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the bottle with white printed label, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the smooth green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the medium green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the bottle with ridges near base, lift 15cm or more, then move it level toward target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the bottle with ridges near base, lift it 15cm, then shift it straight across to target.",
+    "Grab the handheld green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the green bottle with indented base, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the smooth green plastic bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with rounded neck using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the medium-sized green bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the green bottle with indented base up, lift 15cm, then shift it horizontally to target.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the smooth green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the left arm to lift the bottle with white printed label 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the bottle with white printed label, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Pick up the smooth green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the medium green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white printed label, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the bottle with rounded neck, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with narrow top, lift 15cm, then move it sideways to target.",
+    "Grab the green bottle with indented base, lift it 15cm, then move it horizontally toward the target.",
+    "Hold the green bottle with indented base, raise it 15cm, then carry it sideways to the target position.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the smooth green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the green bottle with indented base, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the medium green bottle with capped neck up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the handheld green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the left arm to lift the smooth green plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the green bottle with indented base, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the medium-sized green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the medium-sized green bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the handheld green bottle, lift 15cm, then move it sideways to target.",
+    "Grab the smooth green plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Hold the plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the bottle with narrow top, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with rounded neck using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the smooth green plastic bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the bottle with narrow top up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the medium green bottle with capped neck, lift 15cm, then shift it horizontally to target.",
+    "Use the left arm to lift the medium green bottle with capped neck 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the bottle with narrow top, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the medium green bottle with capped neck, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the medium green bottle with capped neck, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with narrow top, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the handheld green bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the green bottle with indented base, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the smooth green bottle, lift 15cm, then move it sideways to target.",
+    "Grab the medium green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Hold the green bottle with indented base, raise it 15cm, then carry it sideways to the target position.",
+    "Take the bottle with narrow top, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with narrow top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with rounded neck, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the green bottle with indented base up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with white printed label, lift it at least 15cm, then slide it across to target.",
+    "Control the left arm to grasp the medium green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the left arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the bottle with rounded neck, lift 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Pick up the handheld green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the medium-sized green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the smooth green plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode23.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Control the right arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with white neck and red top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Use the right arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Control the right arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Grab the brown bottle with red label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Use the right arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Control the right arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Use the right arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "Control the right arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Use the right arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Control the right arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode24.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the medium green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the smooth green plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, secure the plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with ridges near base 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, pick the smooth green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth green plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Take the medium green bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the handheld green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with ridges near base, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with ridges near base, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the green bottle with indented base, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the bottle with white printed label, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the medium green bottle with capped neck, lift 15cm, then shift it horizontally to target.",
+    "Grab the green bottle with indented base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the handheld green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the medium green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the handheld green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with rounded neck, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, pick the bottle with rounded neck up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with narrow top, lift it 15cm, then move it horizontally toward the target.",
+    "Take the green bottle with indented base, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the smooth green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the handheld green bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the bottle with white printed label, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the bottle with rounded neck, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth green plastic bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Grip the medium green bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, secure the bottle with ridges near base, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the bottle with rounded neck, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with narrow top 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges near base, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "Take the medium green bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the smooth green plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the medium green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with narrow top, raise it 15cm, then move it flat across to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target.",
+    "Grab the green bottle with indented base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the smooth green plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "With the left arm, secure the plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white printed label, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the bottle with white printed label 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, pick the medium green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Take the medium green bottle with capped neck, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the bottle with ridges near base, lift 15cm, then move it sideways to target.",
+    "Secure the smooth green plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the plastic bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the green bottle with indented base, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the smooth green plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the green bottle with indented base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with white printed label, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Grip the plastic bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, secure the smooth green plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the medium green bottle with capped neck, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with ridges near base 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the bottle with white printed label 15cm after grabbing, then move horizontally to target.",
+    "With the left arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth green plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Take the green bottle with indented base, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the plastic bottle, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the medium green bottle with capped neck, raise it 15cm, then move it flat across to target.",
+    "Pick up the smooth green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode25.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the brown bottle with red label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the medium dark brown bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode26.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick the bottle with ridges near base up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the bottle with narrow top 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the medium green bottle with capped neck, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the medium green bottle with capped neck, lift 15cm or more, then move it level toward target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Choose the right arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Grab the medium green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the medium green bottle with capped neck, lift it 15cm, then shift it straight across to target.",
+    "Use the right arm to lift the smooth green bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the bottle with rounded neck, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the smooth green plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Control the right arm to grasp the handheld green bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the medium green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with white printed label, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the medium green bottle with capped neck, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the handheld green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the smooth green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the handheld green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with rounded neck, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the smooth green plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Choose the right arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "Grab the smooth green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white printed label, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the medium green bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the right arm to lift the bottle with rounded neck 15cm after grabbing, then move horizontally to target.",
+    "Grab the plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the medium-sized green bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "Control the right arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Take the medium-sized green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with rounded neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the smooth green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the bottle with ridges near base, lift 15cm minimum, then move horizontally to target.",
+    "Grab the smooth green plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the medium green bottle with capped neck up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the bottle with white printed label 15cm after grasping, then move horizontally to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Choose the right arm, grip the green bottle with indented base, lift 15cm, then move it sideways to target.",
+    "Grab the medium green bottle with capped neck using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the bottle with narrow top, lift it 15cm, then shift it straight across to target.",
+    "Use the right arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the medium green bottle with capped neck, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the medium green bottle with capped neck, lift 15cm, and carry it horizontally to target.",
+    "Control the right arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the medium green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the medium green bottle with capped neck, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the smooth green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges near base, lift at least 15cm, then move horizontally toward target.",
+    "Choose the right arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges near base using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the medium green bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the right arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the medium green bottle with capped neck, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the bottle with white printed label, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the bottle with narrow top, lift 15cm, and carry it horizontally to target.",
+    "Control the right arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with rounded neck, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the smooth green plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the medium green bottle with capped neck, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Using the right arm, lift the medium green bottle with capped neck 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the medium-sized green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white printed label, lift at least 15cm, then move horizontally toward target.",
+    "Choose the right arm, grip the handheld green bottle, lift 15cm, then move it sideways to target.",
+    "Grab the medium-sized green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "Use the right arm to lift the bottle with ridges near base 15cm after grabbing, then move horizontally to target.",
+    "Grab the medium green bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the medium green bottle, lift 15cm, and carry it horizontally to target.",
+    "Control the right arm to grasp the plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the medium green bottle with capped neck, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the green bottle with indented base, raise 15cm, and shift it sideways to the target spot.",
+    "Use the right arm: grasp the green bottle with indented base, lift 15cm minimum, then move horizontally to target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the right arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the dark drink bottle with logo using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Choose the right arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "Use the right arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the brown bottle with red label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Using the right arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Choose the right arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the right arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "With the right arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Grab the narrow-necked bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Using the right arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the right arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the right arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the plastic drink bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Using the right arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target."
+  ],
+  "unseen": [
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode28.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode29.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the bottle with ridges near base, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the handheld green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Grab the plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the bottle with ridges near base, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the bottle with white printed label 15cm after grabbing, then move horizontally to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium-sized green bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Grab the smooth green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "Using the right arm, lift the smooth green plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the bottle with white printed label, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the plastic bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the bottle with narrow top, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the handheld green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the medium green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the smooth green plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with narrow top, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the bottle with narrow top, lift 15cm minimum, then move horizontally to target.",
+    "Grab the bottle with rounded neck, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the smooth green plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the smooth green plastic bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with narrow top, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "Using the right arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with white printed label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the medium green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the smooth green plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the bottle with narrow top, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the smooth green plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with narrow top, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the smooth green plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the medium green bottle with capped neck, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the medium green bottle with capped neck, lift it at least 15cm, then slide it across to target.",
+    "Grab the handheld green bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the smooth green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the green bottle with indented base up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Using the right arm, lift the bottle with white printed label 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the smooth green plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the bottle with white printed label, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium green bottle with capped neck, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the medium green bottle with capped neck 15cm after grabbing, then move horizontally to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with ridges near base, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the bottle with narrow top, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the bottle with rounded neck up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the plastic bottle, lift 15cm, then move it sideways to target.",
+    "Using the right arm, lift the bottle with ridges near base 15cm after grasping, then move horizontally to target.",
+    "Grab the medium green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the smooth green plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the smooth green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Select the right arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the smooth green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the green bottle with indented base 15cm after grabbing, then move horizontally to target.",
+    "Take the green bottle with indented base, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium-sized green bottle, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the smooth green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the handheld green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "With the right arm, pick the medium green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the right arm, grip the medium green bottle, lift 15cm, then move it sideways to target.",
+    "Using the right arm, lift the bottle with narrow top 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the smooth green plastic bottle, raise it 15cm, then carry it sideways to the target position."
+  ],
+  "unseen": [
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode30.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the dark drink bottle with logo using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "With the right arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Use the right arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the narrow-necked bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "With the right arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Choose the right arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the red-capped bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "With the right arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the right arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the right arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Grab the dark drink bottle with logo using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "With the right arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Secure the hand-sized soda bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Use the right arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the narrow-necked bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "With the right arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Choose the right arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode31.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the medium dark brown bottle up, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Control the left arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the hand-sized soda bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode32.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with ridges on bottom, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode33.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the bottle with narrow top, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the medium green bottle with capped neck, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the medium green bottle with capped neck 15cm after grabbing, then move horizontally to target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the handheld green bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the bottle with rounded neck up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with ridges near base, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the medium green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the bottle with narrow top, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with ridges near base, raise it 15cm, then move it flat across to target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the bottle with narrow top, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the plastic bottle, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the smooth green plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with narrow top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the medium green bottle with capped neck, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the bottle with ridges near base, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the medium green bottle with capped neck, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Grip the bottle with ridges near base, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the medium green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with ridges near base, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the smooth green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the smooth green plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the smooth green plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the smooth green plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the smooth green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the smooth green bottle, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the green bottle with indented base, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the handheld green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the green bottle with indented base, lift at least 15cm, then move horizontally toward target.",
+    "Take the bottle with ridges near base, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the bottle with narrow top, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the bottle with white printed label 15cm after grabbing, then move horizontally to target.",
+    "Grip the bottle with rounded neck, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the smooth green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with rounded neck, raise it 15cm, then move it flat across to target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the bottle with narrow top, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the handheld green bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the medium-sized green bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with ridges near base, lift at least 15cm, then move horizontally toward target.",
+    "Take the medium-sized green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the bottle with white printed label, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the medium green bottle with capped neck, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the smooth green bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Grab the smooth green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with rounded neck, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the medium green bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with white printed label 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with white printed label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with ridges near base, lift it at least 15cm, then slide it across to target.",
+    "Pick up the green bottle with indented base, lift at least 15cm, then move horizontally toward target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the smooth green bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the medium green bottle with capped neck 15cm after grabbing, then move horizontally to target.",
+    "Grip the bottle with rounded neck, lift 15cm or more, then move it level toward target.",
+    "Select the left arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the smooth green plastic bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium-sized green bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the green bottle with indented base, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm: grasp the medium-sized green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the bottle with ridges near base, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "Choose the left arm, grip the medium green bottle, lift 15cm, then move it sideways to target.",
+    "Control the left arm to grasp the smooth green plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with narrow top 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges near base using the left arm, lift 15cm minimum, then move straight sideways to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode34.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Control the right arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the narrow-necked bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the plastic drink bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Control the right arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Control the right arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the bottle with ridges on bottom using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Control the right arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the plastic drink bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Control the right arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the right arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode35.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the dark drink bottle with logo using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the medium dark brown bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Using the left arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode36.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode37.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Choose the right arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Use the right arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the right arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Choose the right arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Use the right arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the smooth bottle with red lid using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the right arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Use the right arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the plastic drink bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Choose the right arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Use the right arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the hand-sized soda bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the right arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Choose the right arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "With the right arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "Use the right arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Control the right arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot."
+  ],
+  "unseen": [
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode38.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Choose the left arm, grip the hand-sized soda bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the long thin bottle, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the medium dark brown bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Choose the left arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the left arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode39.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the medium dark brown bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the Coca-Cola bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the narrow-necked bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the brown bottle with red label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Take the long thin bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Choose the left arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Choose the left arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "With the left arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the left arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode40.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Select the right arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the right arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Grab the dark drink bottle with logo using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "With the right arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Select the right arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the right arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grab the brown bottle with red label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the right arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "With the right arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the right arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "With the right arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium dark brown bottle, raise it 15cm, then move it flat across to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Select the right arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with white neck and red top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the right arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "With the right arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Select the right arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Control the right arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with white neck and red top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the right arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "With the right arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target."
+  ],
+  "unseen": [
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode41.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Select the left arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Choose the left arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Select the left arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the plastic drink bottle, lift 15cm minimum, then move horizontally to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Select the left arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "With the left arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium dark brown bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Using the left arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "With the left arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode42.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the Coca-Cola bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Select the right arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Control the right arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the smooth bottle with red lid, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the plastic drink bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the right arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium dark brown bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Secure the narrow-necked bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Select the right arm, take the dark drink bottle with logo, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the right arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, pick the bottle with white neck and red top up, lift 15cm, then shift it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the brown bottle with red label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm to lift the brown bottle with red label 15cm after grabbing, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Select the right arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the right arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the right arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the red-capped bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Select the right arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "With the right arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "Control the right arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode43.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with white printed label, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the bottle with narrow top up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with rounded neck, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the smooth green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the bottle with rounded neck, lift 15cm or more, then move it level toward target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium green bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "Hold the bottle with narrow top, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the bottle with rounded neck, lift 15cm, then shift it horizontally to target.",
+    "Pick up the smooth green plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with narrow top, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the green bottle with indented base 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the smooth green bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with ridges near base using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with rounded neck, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with white printed label, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the green bottle with indented base up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges near base, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the smooth green plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the medium green bottle with capped neck, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with ridges near base, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with narrow top, raise it 15cm, then move it flat across to target.",
+    "Grab the plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "Hold the bottle with rounded neck, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the green bottle with indented base, lift 15cm, and carry it horizontally to target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Grab the bottle with white printed label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with narrow top, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the bottle with narrow top up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the green bottle with indented base, lift 15cm minimum, then move horizontally to target.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the medium green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the bottle with white printed label, lift it 15cm, and carry it horizontally to target.",
+    "Hold the smooth green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the bottle with rounded neck, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with rounded neck, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with ridges near base, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the bottle with ridges near base 15cm after grasping, then move horizontally to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the bottle with rounded neck, lift 15cm, and carry it horizontally to target.",
+    "Secure the bottle with rounded neck, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the bottle with narrow top, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Grip the smooth green plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the smooth green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Grab the medium green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the smooth green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the handheld green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the medium green bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the green bottle with indented base, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the green bottle with indented base, lift 15cm, and carry it horizontally to target.",
+    "Secure the plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Grab the medium green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Choose the right arm, grip the smooth green bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "Pick up the bottle with rounded neck, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with rounded neck, raise it 15cm, then move it flat across to target.",
+    "Grab the plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the right arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "Hold the smooth green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Control the right arm to grasp the smooth green bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the handheld green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the bottle with ridges near base 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "Secure the bottle with rounded neck, lift it 15cm, then shift it straight across to target."
+  ],
+  "unseen": [
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode44.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the narrow-necked bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the red-capped bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the brown bottle with red label, lift it 15cm, then shift it straight across to target.",
+    "Using the left arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Hold the dark drink bottle with logo, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the smooth bottle with red lid, lift 15cm, then shift it horizontally to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic drink bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the brown bottle with red label, lift 15cm, and move it horizontally until it reaches target.",
+    "Choose the left arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the smooth bottle with red lid, lift 15cm minimum, then move horizontally to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode45.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the narrow-necked bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Select the right arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Control the right arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Hold the long thin bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the Coca-Cola bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the right arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the long thin bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Select the right arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Control the right arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Secure the bottle with white neck and red top, lift it 15cm, then shift it straight across to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the Coca-Cola bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the hand-sized soda bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Select the right arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Control the right arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Secure the hand-sized soda bottle, lift it 15cm, then shift it straight across to target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the smooth bottle with red lid, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the bottle with ridges on bottom, lift 15cm minimum, then move horizontally to target.",
+    "Using the right arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Grab the hand-sized soda bottle, raise it 15cm, then move it flat across to target.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Grab the hand-sized soda bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Control the right arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the long thin bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Take the red-capped bottle, lift it at least 15cm, then slide it across to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Grab the dark drink bottle with logo, raise it 15cm, then move it flat across to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the brown bottle with red label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Select the right arm, take the medium dark brown bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the dark drink bottle with logo, lift it 15cm, then move it horizontally toward the target.",
+    "With the right arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the dark drink bottle with logo, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Use the right arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the plastic drink bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Using the right arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode46.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the bottle with white neck and red top, lift at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the brown bottle with red label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the plastic drink bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the red-capped bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Pick up the brown bottle with red label, lift at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the narrow-necked bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the brown bottle with red label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the dark drink bottle with logo, lift 15cm, and carry it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the bottle with ridges on bottom, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the plastic drink bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the plastic drink bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the Coca-Cola bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the long thin bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Pick up the narrow-necked bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the red-capped bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Grab the brown bottle with red label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the left arm, secure the smooth bottle with red lid, lift 15cm, and carry it horizontally to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode47.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the right arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Take the red-capped bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the smooth bottle with red lid, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the bottle with ridges on bottom, lift 15cm or more, then move it level toward target.",
+    "Grab the dark drink bottle with logo using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the plastic drink bottle 15cm after grasping, then move horizontally to target.",
+    "With the right arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the hand-sized soda bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the hand-sized soda bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the right arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "Pick up the red-capped bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the plastic drink bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the narrow-necked bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the smooth bottle with red lid using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "With the right arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges on bottom, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the right arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the dark drink bottle with logo, lift it 15cm, then shift it straight across to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the bottle with white neck and red top, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Grab the long thin bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the smooth bottle with red lid, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the red-capped bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the long thin bottle, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the right arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the narrow-necked bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "Grab the brown bottle with red label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "With the right arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Select the right arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Choose the right arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Use the right arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the right arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Take the plastic drink bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the right arm, secure the narrow-necked bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with white neck and red top, lift it 15cm, then move it horizontally toward the target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Take the long thin bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with white neck and red top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Using the right arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "With the right arm, pick the brown bottle with red label up, lift 15cm, then shift it horizontally to target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode48.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the brown bottle with red label 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the plastic drink bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Secure the red-capped bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Pick up the Coca-Cola bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift it at least 15cm, then slide it across to target.",
+    "Grip the Coca-Cola bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the medium dark brown bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the narrow-necked bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the brown bottle with red label, lift it at least 15cm, then move horizontally toward target.",
+    "Take the Coca-Cola bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the narrow-necked bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Take the Coca-Cola bottle, lift it at least 15cm, then slide it across to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the brown bottle with red label using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the bottle with ridges on bottom, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the plastic drink bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the bottle with white neck and red top 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Grip the long thin bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the bottle with white neck and red top, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the red-capped bottle, lift 15cm, then move it sideways to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the Coca-Cola bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the Coca-Cola bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the Coca-Cola bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the medium dark brown bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Take the dark drink bottle with logo, lift 15cm, and move it horizontally until it reaches target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Use the left arm to lift the long thin bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Grab the brown bottle with red label, raise it 15cm, then move it flat across to target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position."
+  ],
+  "unseen": [
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode49.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bottle with rounded neck, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the bottle with ridges near base, lift 15cm minimum, then move horizontally to target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Grip the plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Pick up the bottle with ridges near base, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, secure the bottle with narrow top, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with white printed label using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the smooth green plastic bottle, lift 15cm, then move it sideways to target.",
+    "Take the medium green bottle with capped neck, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the green bottle with indented base 15cm after grabbing, then move horizontally to target.",
+    "Hold the bottle with white printed label, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the handheld green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with rounded neck, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the bottle with ridges near base up, lift 15cm, then shift it horizontally to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the smooth green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the green bottle with indented base, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the bottle with narrow top, lift 15cm minimum, then move horizontally to target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "Grip the bottle with ridges near base, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, secure the plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Grab the bottle with ridges near base using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Take the medium green bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with white printed label, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the smooth green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the smooth green plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the medium green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the bottle with ridges near base, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth green plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the smooth green plastic bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the medium-sized green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the bottle with narrow top, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Secure the smooth green bottle, lift it 15cm, then shift it straight across to target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, secure the medium green bottle with capped neck, lift 15cm, and carry it horizontally to target.",
+    "Grab the medium-sized green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the handheld green bottle, lift 15cm, then move it sideways to target.",
+    "Take the medium-sized green bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with white printed label, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the smooth green plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the medium green bottle with capped neck, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the bottle with narrow top up, lift 15cm, then shift it horizontally to target.",
+    "Take the medium green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the medium green bottle with capped neck, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium green bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the bottle with narrow top, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the bottle with white printed label, lift 15cm minimum, then move horizontally to target.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, secure the medium green bottle with capped neck, lift 15cm, and carry it horizontally to target.",
+    "Grab the plastic bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the smooth green bottle, lift 15cm, then move it sideways to target.",
+    "Take the bottle with narrow top, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the bottle with rounded neck, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the bottle with rounded neck 15cm after grabbing, then move horizontally to target.",
+    "Hold the medium green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the smooth green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth green plastic bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the green bottle with indented base up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green plastic bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the handheld green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the handheld green bottle, raise it 15cm, then move it flat across to target.",
+    "Select the right arm, take the green bottle with indented base, lift it 15cm, and carry it horizontally to target.",
+    "Use the right arm: grasp the bottle with narrow top, lift 15cm minimum, then move horizontally to target.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target.",
+    "Using the right arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "With the right arm, secure the bottle with ridges near base, lift 15cm, and carry it horizontally to target.",
+    "Grab the handheld green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Choose the right arm, grip the medium green bottle, lift 15cm, then move it sideways to target.",
+    "Take the medium green bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the medium green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Control the right arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Use the right arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the smooth green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the medium-sized green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the narrow-necked bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the dark drink bottle with logo, lift 15cm or more, then move it level toward target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the bottle with ridges on bottom, lift it 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift it at least 15cm, then slide it across to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the plastic drink bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with white neck and red top, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with white neck and red top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the red-capped bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the dark drink bottle with logo, lift at least 15cm, then move horizontally toward target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the Coca-Cola bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the red-capped bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the long thin bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the hand-sized soda bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the red-capped bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium dark brown bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the plastic drink bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the smooth bottle with red lid 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the red-capped bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the Coca-Cola bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the hand-sized soda bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the medium dark brown bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the red-capped bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the bottle with ridges on bottom, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the plastic drink bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the plastic drink bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the narrow-necked bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the bottle with ridges on bottom 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the narrow-necked bottle, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the hand-sized soda bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with white neck and red top 15cm after grasping, then move horizontally to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the brown bottle with red label, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with white neck and red top, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the hand-sized soda bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the bottle with ridges on bottom, lift 15cm, and carry it horizontally to target.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Pick up the dark drink bottle with logo, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the medium dark brown bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the plastic drink bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the medium dark brown bottle 15cm after grasping, then move horizontally to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Secure the bottle with ridges on bottom, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the long thin bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "Grab the medium dark brown bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Select the left arm, take the smooth bottle with red lid, lift it 15cm, and carry it horizontally to target.",
+    "Take the narrow-necked bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Grab the Coca-Cola bottle, raise it 15cm, then move it flat across to target.",
+    "Control the left arm to grasp the red-capped bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the brown bottle with red label, lift 15cm, and carry it horizontally to target.",
+    "Take the dark drink bottle with logo, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Hold the brown bottle with red label, raise it 15cm, then carry it sideways to the target position.",
+    "Use the left arm to lift the narrow-necked bottle 15cm after grabbing, then move horizontally to target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the left arm, grip the medium dark brown bottle, lift 15cm, then move it sideways to target.",
+    "Grab the narrow-necked bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the smooth bottle with red lid 15cm after grasping, then move horizontally to target.",
+    "Pick up the narrow-necked bottle, lift at least 15cm, then move horizontally toward target.",
+    "Secure the smooth bottle with red lid, lift it 15cm, then shift it straight across to target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with narrow top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the medium-sized green bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the green bottle with indented base, lift 15cm, then shift it horizontally to target.",
+    "Hold the bottle with rounded neck, raise it 15cm, then carry it sideways to the target position.",
+    "Take the bottle with rounded neck, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the green bottle with indented base 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the bottle with narrow top 15cm after grasping, then move horizontally to target.",
+    "Grab the smooth green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the medium green bottle with capped neck, lift 15cm or more, then move it level toward target.",
+    "Grab the smooth green plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Take the medium green bottle with capped neck, lift it at least 15cm, then slide it across to target.",
+    "With the right arm, secure the green bottle with indented base, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white printed label, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Choose the right arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white printed label, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the medium green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth green plastic bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with narrow top, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the smooth green plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the medium green bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the medium green bottle with capped neck 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the medium green bottle with capped neck 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the bottle with ridges near base, lift 15cm or more, then move it level toward target.",
+    "Grab the plastic bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "With the right arm, secure the medium green bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges near base, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with narrow top, raise it 15cm, then move it flat across to target.",
+    "Choose the right arm, grip the smooth green plastic bottle, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium-sized green bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the medium-sized green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the medium green bottle with capped neck using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with rounded neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the handheld green bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the smooth green plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the smooth green plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the medium-sized green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the smooth green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the medium-sized green bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Take the medium green bottle with capped neck, lift it at least 15cm, then slide it across to target.",
+    "With the right arm, secure the bottle with ridges near base, lift 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white printed label, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Choose the right arm, grip the handheld green bottle, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the green bottle with indented base using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with narrow top, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the bottle with narrow top, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the smooth green bottle, lift 15cm, then shift it horizontally to target.",
+    "Hold the plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the green bottle with indented base, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the handheld green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "With the right arm, secure the smooth green bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the handheld green bottle, raise it 15cm, then move it flat across to target.",
+    "Choose the right arm, grip the medium green bottle with capped neck, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the bottle with rounded neck, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the smooth green plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the smooth green plastic bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with ridges near base, raise it 15cm minimum, then slide it sideways to target.",
+    "Secure the plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "Control the right arm to grasp the bottle with ridges near base, lift 15cm, then shift it horizontally to target.",
+    "Hold the bottle with white printed label, raise it 15cm, then carry it sideways to the target position.",
+    "Take the handheld green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Use the right arm to lift the handheld green bottle 15cm after grabbing, then move horizontally to target.",
+    "Using the right arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with narrow top, lift it 15cm, then move it horizontally toward the target.",
+    "Use the right arm: grasp the bottle with narrow top, lift 15cm minimum, then move horizontally to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "With the right arm, secure the handheld green bottle, lift 15cm, and carry it horizontally to target.",
+    "Pick up the smooth green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the smooth green plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Choose the right arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Select the right arm, take the medium green bottle with capped neck, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "With the right arm, pick the bottle with narrow top up, lift 15cm, then shift it horizontally to target."
+  ],
+  "unseen": [
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the green bottle with indented base, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the smooth green plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the smooth green plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with white printed label, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with narrow top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with rounded neck, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the bottle with rounded neck, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the bottle with ridges near base 15cm after grabbing, then move horizontally to target.",
+    "Select the right arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with ridges near base, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the handheld green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the handheld green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the handheld green bottle, lift it 15cm, then shift it straight across to target.",
+    "With the right arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with narrow top, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the right arm to grasp the bottle with white printed label, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with narrow top using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the handheld green bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the right arm, take the bottle with ridges near base, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the medium-sized green bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the green bottle with indented base, lift 15cm or more, then move it level toward target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the bottle with ridges near base, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with ridges near base, lift 15cm, then move it sideways to target.",
+    "Secure the smooth green plastic bottle, lift it 15cm, then shift it straight across to target.",
+    "With the right arm, pick the green bottle with indented base up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green plastic bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the right arm to grasp the medium-sized green bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the medium green bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the bottle with rounded neck, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the smooth green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the medium-sized green bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the handheld green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the handheld green bottle, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the smooth green plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the right arm, take the plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the handheld green bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the green bottle with indented base, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the green bottle with indented base, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the bottle with rounded neck, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with narrow top, lift 15cm, then move it sideways to target.",
+    "Secure the medium-sized green bottle, lift it 15cm, then shift it straight across to target.",
+    "With the right arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the right arm to grasp the plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with rounded neck, lift it at least 15cm, then slide it across to target.",
+    "Hold the bottle with narrow top, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the bottle with narrow top, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the smooth green plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the medium green bottle using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with narrow top, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the plastic bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the right arm, take the handheld green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white printed label, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the medium green bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the medium-sized green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the medium green bottle with capped neck, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the medium green bottle with capped neck, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the bottle with rounded neck, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with narrow top, lift it 15cm, then shift it straight across to target.",
+    "With the right arm, pick the bottle with ridges near base up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with narrow top, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the right arm to grasp the medium green bottle, lift 15cm, then shift it horizontally to target.",
+    "Take the plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Hold the bottle with narrow top, raise it 15cm, then carry it sideways to the target position.",
+    "Pick up the bottle with ridges near base, lift at least 15cm, then move horizontally toward target.",
+    "Using the right arm, lift the medium-sized green bottle 15cm after grasping, then move horizontally to target.",
+    "Grab the medium green bottle with capped neck, lift it at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges near base using the right arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the bottle with rounded neck, raise 15cm, and shift it sideways to the target spot.",
+    "With the right arm, secure the medium green bottle, lift 15cm, and carry it horizontally to target.",
+    "Use the right arm to lift the smooth green bottle 15cm after grabbing, then move horizontally to target.",
+    "Select the right arm, take the handheld green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Pick up the bottle with white printed label, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the smooth green plastic bottle, lift 15cm or more, then move it level toward target.",
+    "Grab the smooth green bottle, lift it 15cm, then move it horizontally toward the target.",
+    "Grab the bottle with ridges near base, raise it 15cm, then move it flat across to target.",
+    "Use the right arm: grasp the green bottle with indented base, lift 15cm minimum, then move horizontally to target.",
+    "Choose the right arm, grip the medium-sized green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with white printed label, lift it 15cm, then shift it straight across to target.",
+    "With the right arm, pick the bottle with white printed label up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the right arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with rounded neck, lift it at least 15cm, then slide it across to target."
+  ],
+  "unseen": [
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the right arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "With the right arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the right arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm: grasp the bottle with white neck and red top, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the brown bottle with red label, lift it 15cm, and carry it horizontally to target.",
+    "Hold the bottle with ridges on bottom, raise it 15cm, then carry it sideways to the target position.",
+    "Take the medium dark brown bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Pick up the hand-sized soda bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the Coca-Cola bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the long thin bottle 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the long thin bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with white neck and red top, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the smooth bottle with red lid, lift 15cm, then move it sideways to target.",
+    "Grab the Coca-Cola bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the left arm, secure the long thin bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Grab the smooth bottle with red lid using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the dark drink bottle with logo, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the bottle with white neck and red top, lift it 15cm, and carry it horizontally to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the brown bottle with red label, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Pick up the long thin bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the red-capped bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the medium dark brown bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the dark drink bottle with logo, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the dark drink bottle with logo, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Grab the plastic drink bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the left arm, secure the medium dark brown bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the bottle with white neck and red top, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the narrow-necked bottle up, lift 15cm, then shift it horizontally to target.",
+    "Grab the bottle with ridges on bottom using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the Coca-Cola bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the narrow-necked bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the hand-sized soda bottle, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the dark drink bottle with logo 15cm after grabbing, then move horizontally to target.",
+    "Secure the Coca-Cola bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the long thin bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the dark drink bottle with logo 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the bottle with white neck and red top, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with ridges on bottom, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the dark drink bottle with logo, lift 15cm, then move it sideways to target.",
+    "Grab the brown bottle with red label, lift it 15cm, then move it horizontally toward the target.",
+    "With the left arm, secure the plastic drink bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the smooth bottle with red lid, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the dark drink bottle with logo up, lift 15cm, then shift it horizontally to target.",
+    "Grab the red-capped bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the long thin bottle, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the Coca-Cola bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the red-capped bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the bottle with white neck and red top, lift it at least 15cm, then slide it across to target.",
+    "Grab the bottle with white neck and red top, raise it 15cm, then move it flat across to target.",
+    "Pick up the smooth bottle with red lid, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the medium dark brown bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the long thin bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the red-capped bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the hand-sized soda bottle 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the medium dark brown bottle, lift 15cm, then shift it horizontally to target.",
+    "Grab the narrow-necked bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the hand-sized soda bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the Coca-Cola bottle, lift 15cm, then move it sideways to target.",
+    "Grab the medium dark brown bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the left arm, secure the bottle with white neck and red top, lift 15cm, and carry it horizontally to target.",
+    "Grip the plastic drink bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the bottle with ridges on bottom up, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Use the left arm: grasp the brown bottle with red label, lift 15cm minimum, then move horizontally to target.",
+    "Select the left arm, take the plastic drink bottle, lift it 15cm, and carry it horizontally to target.",
+    "Hold the hand-sized soda bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Take the smooth bottle with red lid, lift it at least 15cm, then slide it across to target.",
+    "Grab the smooth bottle with red lid, raise it 15cm, then move it flat across to target.",
+    "Pick up the medium dark brown bottle, lift at least 15cm, then move horizontally toward target.",
+    "Use the left arm to lift the hand-sized soda bottle 15cm after grabbing, then move horizontally to target.",
+    "Secure the hand-sized soda bottle, lift it 15cm, then shift it straight across to target.",
+    "Take the bottle with white neck and red top, lift 15cm, and move it horizontally until it reaches target.",
+    "Pick up the brown bottle with red label, raise it 15cm minimum, then slide it sideways to target.",
+    "Using the left arm, lift the bottle with ridges on bottom 15cm after grasping, then move horizontally to target.",
+    "Control the left arm to grasp the brown bottle with red label, lift 15cm, then shift it horizontally to target.",
+    "Grab the hand-sized soda bottle, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the brown bottle with red label, raise 15cm, and shift it sideways to the target spot.",
+    "Choose the left arm, grip the brown bottle with red label, lift 15cm, then move it sideways to target.",
+    "Grab the long thin bottle, lift it 15cm, then move it horizontally toward the target.",
+    "With the left arm, secure the hand-sized soda bottle, lift 15cm, and carry it horizontally to target.",
+    "Grip the hand-sized soda bottle, lift 15cm or more, then move it level toward target.",
+    "With the left arm, pick the smooth bottle with red lid up, lift 15cm, then shift it horizontally to target.",
+    "Grab the brown bottle with red label using the left arm, lift 15cm minimum, then move straight sideways to target."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the plastic soda bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the plastic soda bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the bottle with red screw cap, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the bottle with red screw cap, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, move it straight across to target.",
+    "Use the left arm to grab the brown bottle, lift 15cm, then move it horizontally to target.",
+    "With the left arm, pick up the brown bottle, raise it 15cm, slide it horizontally toward target."
+  ]
+}

adjust_bottle_pref6/adjust_bottle_pref6/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm: grasp the bottle with ridges near base, lift 15cm minimum, then move horizontally to target.",
+    "Use the left arm to lift the bottle with white printed label 15cm after grabbing, then move horizontally to target.",
+    "Hold the bottle with ridges near base, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with white printed label, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the bottle with ridges near base, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the green bottle with indented base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the smooth green plastic bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the handheld green bottle, lift 15cm, then move it sideways to target.",
+    "Secure the medium green bottle, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the medium-sized green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with white printed label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with narrow top, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with ridges near base, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with rounded neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with ridges near base, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the smooth green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Use the left arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the medium green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with white printed label, raise it 15cm, then move it flat across to target.",
+    "Take the smooth green plastic bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the bottle with narrow top, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the medium green bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the bottle with narrow top using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the handheld green bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with rounded neck, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the green bottle with indented base 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the smooth green plastic bottle, lift 15cm, then move it sideways to target.",
+    "Secure the green bottle with indented base, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the medium green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the smooth green bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with narrow top, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the smooth green plastic bottle, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with ridges near base, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the medium-sized green bottle, lift 15cm minimum, then move horizontally to target.",
+    "Use the left arm to lift the medium green bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the smooth green plastic bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the green bottle with indented base, raise it 15cm, then move it flat across to target.",
+    "Take the medium-sized green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the smooth green plastic bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the handheld green bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the green bottle with indented base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the smooth green plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with ridges near base, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with ridges near base, lift 15cm, then move it sideways to target.",
+    "Secure the bottle with ridges near base, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the handheld green bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the plastic bottle, lift it at least 15cm, then slide it across to target.",
+    "Pick up the medium green bottle with capped neck, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the green bottle with indented base, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the green bottle with indented base, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with narrow top, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the bottle with white printed label, lift 15cm minimum, then move horizontally to target.",
+    "Use the left arm to lift the medium-sized green bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the smooth green bottle, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the bottle with rounded neck, raise it 15cm, then move it flat across to target.",
+    "Take the bottle with ridges near base, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the smooth green bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the medium-sized green bottle, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the bottle with white printed label, lift it 15cm, and carry it horizontally to target.",
+    "Grab the green bottle with indented base using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the medium green bottle with capped neck, lift at least 15cm, then move horizontally toward target.",
+    "Grab the medium green bottle with capped neck, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the bottle with rounded neck 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the bottle with white printed label, lift 15cm, then move it sideways to target.",
+    "Secure the medium green bottle with capped neck, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the medium green bottle with capped neck up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with white printed label, lift it at least 15cm, then slide it across to target.",
+    "Pick up the smooth green plastic bottle, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the medium green bottle with capped neck, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the medium green bottle with capped neck, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the bottle with white printed label, lift 15cm or more, then move it level toward target.",
+    "Use the left arm: grasp the plastic bottle, lift 15cm minimum, then move horizontally to target.",
+    "Use the left arm to lift the plastic bottle 15cm after grabbing, then move horizontally to target.",
+    "Hold the bottle with narrow top, raise it 15cm, then carry it sideways to the target position.",
+    "Grab the smooth green plastic bottle, raise it 15cm, then move it flat across to target.",
+    "Take the smooth green bottle, lift 15cm, and move it horizontally until it reaches target.",
+    "Control the left arm to grasp the smooth green bottle, lift 15cm, then shift it horizontally to target.",
+    "With the left arm, secure the medium green bottle with capped neck, lift 15cm, and carry it horizontally to target.",
+    "Select the left arm, take the smooth green plastic bottle, lift it 15cm, and carry it horizontally to target.",
+    "Grab the plastic bottle using the left arm, lift 15cm minimum, then move straight sideways to target.",
+    "Pick up the plastic bottle, lift at least 15cm, then move horizontally toward target.",
+    "Grab the bottle with white printed label, lift it 15cm, then move it horizontally toward the target.",
+    "Using the left arm, lift the medium green bottle 15cm after grasping, then move horizontally to target.",
+    "Choose the left arm, grip the plastic bottle, lift 15cm, then move it sideways to target.",
+    "Secure the medium green bottle with capped neck, lift it 15cm, then shift it straight across to target.",
+    "With the left arm, pick the plastic bottle up, lift 15cm, then shift it horizontally to target.",
+    "Take the bottle with ridges near base, lift it at least 15cm, then slide it across to target.",
+    "Pick up the bottle with rounded neck, raise 15cm, and shift it sideways to the target spot.",
+    "Grab the bottle with ridges near base, lift it at least 15cm, then move horizontally toward target.",
+    "Pick up the bottle with narrow top, raise it 15cm minimum, then slide it sideways to target.",
+    "Grip the smooth green bottle, lift 15cm or more, then move it level toward target."
+  ],
+  "unseen": [
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green plastic bottle with ridged bottom, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green bottle, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, slide it horizontally toward target.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, lift 15cm, then move it horizontally to target.",
+    "Use the left arm to grab the green bottle with white label, lift 15cm, then slide it horizontally to target.",
+    "With the left arm, pick up the green bottle with white label, raise it 15cm, move it straight across to target."
+  ]
+}