b9786bccd0bf4d7dce1becda099613e0cf976b3c68e9f6e6ea3ae7f9971a9ff4

adjust_bottle_pref3/adjust_bottle_pref3/instructions/episode49.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "From the left of the smooth bottle with red lid, lift the smooth bottle with red lid and place the smooth bottle with red lid at target.",
+    "Approach the hand-sized soda bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the brown bottle with red label, and place it at target.",
+    "Move in from the dark drink bottle with logo's left, grab it, and set it at target.",
+    "From the red-capped bottle's left, use the left arm to grasp the red-capped bottle, then place at target.",
+    "Line up the left arm on the bottle with white neck and red top's left, grasp the bottle with white neck and red top, set it at target.",
+    "Bring the left arm to the red-capped bottle's left, take the red-capped bottle, and set it at target.",
+    "From the left side of the hand-sized soda bottle, pick it up and place at target.",
+    "Move the left arm to the left side of the Coca-Cola bottle, lift the Coca-Cola bottle, place at target.",
+    "Approach the bottle with white neck and red top on its left, take it, then put it at target.",
+    "Come in from the left of the dark drink bottle with logo, grab the dark drink bottle with logo, place at target.",
+    "Use the left arm from the left to grab the brown bottle with red label, then place it at target.",
+    "Line up left of the medium dark brown bottle, grasp it with the left arm, and put it on target.",
+    "Enter from the long thin bottle's left, take the long thin bottle, and set the long thin bottle at target.",
+    "Come from the left of the dark drink bottle with logo, lift it, and drop it at target.",
+    "Slide to the narrow-necked bottle's left, lift the narrow-necked bottle, then drop the narrow-necked bottle at target.",
+    "Position the left arm left of the dark drink bottle with logo, take the dark drink bottle with logo, and set the dark drink bottle with logo at target.",
+    "Approach the long thin bottle from the left, pick up the long thin bottle, then place at target.",
+    "Come in left of the bottle with ridges on bottom, pick it up with the left arm, then drop at target.",
+    "Approach the narrow-necked bottle from left; with the left arm, grip the narrow-necked bottle; place at target.",
+    "From the left of the plastic drink bottle, lift the plastic drink bottle and place the plastic drink bottle at target.",
+    "Approach the brown bottle with red label from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the long thin bottle, and place it at target.",
+    "Move in from the medium dark brown bottle's left, grab it, and set it at target.",
+    "From the narrow-necked bottle's left, use the left arm to grasp the narrow-necked bottle, then place at target.",
+    "Line up the left arm on the smooth bottle with red lid's left, grasp the smooth bottle with red lid, set it at target.",
+    "Bring the left arm to the bottle with ridges on bottom's left, take the bottle with ridges on bottom, and set it at target.",
+    "From the left side of the dark drink bottle with logo, pick it up and place at target.",
+    "Move the left arm to the left side of the narrow-necked bottle, lift the narrow-necked bottle, place at target.",
+    "Approach the plastic drink bottle on its left, take it, then put it at target.",
+    "Come in from the left of the smooth bottle with red lid, grab the smooth bottle with red lid, place at target.",
+    "Use the left arm from the left to grab the narrow-necked bottle, then place it at target.",
+    "Line up left of the plastic drink bottle, grasp it with the left arm, and put it on target.",
+    "Enter from the smooth bottle with red lid's left, take the smooth bottle with red lid, and set the smooth bottle with red lid at target.",
+    "Come from the left of the long thin bottle, lift it, and drop it at target.",
+    "Slide to the medium dark brown bottle's left, lift the medium dark brown bottle, then drop the medium dark brown bottle at target.",
+    "Position the left arm left of the brown bottle with red label, take the brown bottle with red label, and set the brown bottle with red label at target.",
+    "Approach the brown bottle with red label from the left, pick up the brown bottle with red label, then place at target.",
+    "Come in left of the dark drink bottle with logo, pick it up with the left arm, then drop at target.",
+    "Approach the plastic drink bottle from left; with the left arm, grip the plastic drink bottle; place at target.",
+    "From the left of the bottle with ridges on bottom, lift the bottle with ridges on bottom and place the bottle with ridges on bottom at target.",
+    "Approach the red-capped bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the dark drink bottle with logo, and place it at target.",
+    "Move in from the brown bottle with red label's left, grab it, and set it at target.",
+    "From the Coca-Cola bottle's left, use the left arm to grasp the Coca-Cola bottle, then place at target.",
+    "Line up the left arm on the dark drink bottle with logo's left, grasp the dark drink bottle with logo, set it at target.",
+    "Bring the left arm to the narrow-necked bottle's left, take the narrow-necked bottle, and set it at target.",
+    "From the left side of the Coca-Cola bottle, pick it up and place at target.",
+    "Move the left arm to the left side of the red-capped bottle, lift the red-capped bottle, place at target.",
+    "Approach the narrow-necked bottle on its left, take it, then put it at target.",
+    "Come in from the left of the smooth bottle with red lid, grab the smooth bottle with red lid, place at target.",
+    "Use the left arm from the left to grab the Coca-Cola bottle, then place it at target.",
+    "Line up left of the dark drink bottle with logo, grasp it with the left arm, and put it on target.",
+    "Enter from the brown bottle with red label's left, take the brown bottle with red label, and set the brown bottle with red label at target.",
+    "Come from the left of the plastic drink bottle, lift it, and drop it at target.",
+    "Slide to the medium dark brown bottle's left, lift the medium dark brown bottle, then drop the medium dark brown bottle at target.",
+    "Position the left arm left of the brown bottle with red label, take the brown bottle with red label, and set the brown bottle with red label at target.",
+    "Approach the bottle with ridges on bottom from the left, pick up the bottle with ridges on bottom, then place at target.",
+    "Come in left of the medium dark brown bottle, pick it up with the left arm, then drop at target.",
+    "Approach the smooth bottle with red lid from left; with the left arm, grip the smooth bottle with red lid; place at target.",
+    "From the left of the medium dark brown bottle, lift the medium dark brown bottle and place the medium dark brown bottle at target.",
+    "Approach the brown bottle with red label from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the narrow-necked bottle, and place it at target.",
+    "Move in from the dark drink bottle with logo's left, grab it, and set it at target.",
+    "From the smooth bottle with red lid's left, use the left arm to grasp the smooth bottle with red lid, then place at target.",
+    "Line up the left arm on the long thin bottle's left, grasp the long thin bottle, set it at target.",
+    "Bring the left arm to the Coca-Cola bottle's left, take the Coca-Cola bottle, and set it at target.",
+    "From the left side of the medium dark brown bottle, pick it up and place at target.",
+    "Move the left arm to the left side of the narrow-necked bottle, lift the narrow-necked bottle, place at target.",
+    "Approach the hand-sized soda bottle on its left, take it, then put it at target.",
+    "Come in from the left of the brown bottle with red label, grab the brown bottle with red label, place at target.",
+    "Use the left arm from the left to grab the medium dark brown bottle, then place it at target.",
+    "Line up left of the smooth bottle with red lid, grasp it with the left arm, and put it on target.",
+    "Enter from the red-capped bottle's left, take the red-capped bottle, and set the red-capped bottle at target.",
+    "Come from the left of the dark drink bottle with logo, lift it, and drop it at target.",
+    "Slide to the long thin bottle's left, lift the long thin bottle, then drop the long thin bottle at target.",
+    "Position the left arm left of the brown bottle with red label, take the brown bottle with red label, and set the brown bottle with red label at target.",
+    "Approach the smooth bottle with red lid from the left, pick up the smooth bottle with red lid, then place at target.",
+    "Come in left of the long thin bottle, pick it up with the left arm, then drop at target.",
+    "Approach the smooth bottle with red lid from left; with the left arm, grip the smooth bottle with red lid; place at target.",
+    "From the left of the plastic drink bottle, lift the plastic drink bottle and place the plastic drink bottle at target.",
+    "Approach the brown bottle with red label from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the bottle with white neck and red top, and place it at target.",
+    "Move in from the red-capped bottle's left, grab it, and set it at target.",
+    "From the red-capped bottle's left, use the left arm to grasp the red-capped bottle, then place at target.",
+    "Line up the left arm on the long thin bottle's left, grasp the long thin bottle, set it at target.",
+    "Bring the left arm to the medium dark brown bottle's left, take the medium dark brown bottle, and set it at target.",
+    "From the left side of the medium dark brown bottle, pick it up and place at target.",
+    "Move the left arm to the left side of the Coca-Cola bottle, lift the Coca-Cola bottle, place at target.",
+    "Approach the dark drink bottle with logo on its left, take it, then put it at target.",
+    "Come in from the left of the bottle with white neck and red top, grab the bottle with white neck and red top, place at target.",
+    "Use the left arm from the left to grab the bottle with ridges on bottom, then place it at target.",
+    "Line up left of the smooth bottle with red lid, grasp it with the left arm, and put it on target.",
+    "Enter from the hand-sized soda bottle's left, take the hand-sized soda bottle, and set the hand-sized soda bottle at target.",
+    "Come from the left of the plastic drink bottle, lift it, and drop it at target.",
+    "Slide to the bottle with ridges on bottom's left, lift the bottle with ridges on bottom, then drop the bottle with ridges on bottom at target.",
+    "Position the left arm left of the dark drink bottle with logo, take the dark drink bottle with logo, and set the dark drink bottle with logo at target.",
+    "Approach the long thin bottle from the left, pick up the long thin bottle, then place at target.",
+    "Come in left of the brown bottle with red label, pick it up with the left arm, then drop at target.",
+    "Approach the medium dark brown bottle from left; with the left arm, grip the medium dark brown bottle; place at target."
+  ],
+  "unseen": [
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target."
+  ]
+}

adjust_bottle_pref3/adjust_bottle_pref3/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Line up left of the smooth green bottle, grasp it with the left arm, and put it on target.",
+    "From the smooth green bottle's left, use the left arm to grasp the smooth green bottle, then place at target.",
+    "Enter from the bottle with narrow top's left, take the bottle with narrow top, and set the bottle with narrow top at target.",
+    "Position the left arm left of the handheld green bottle, take the handheld green bottle, and set the handheld green bottle at target.",
+    "Line up the left arm on the bottle with narrow top's left, grasp the bottle with narrow top, set it at target.",
+    "From the left of the smooth green plastic bottle, lift the smooth green plastic bottle and place the smooth green plastic bottle at target.",
+    "Bring the left arm to the bottle with rounded neck's left, take the bottle with rounded neck, and set it at target.",
+    "Come from the left of the bottle with ridges near base, lift it, and drop it at target.",
+    "Approach the bottle with rounded neck on its left, take it, then put it at target.",
+    "From the left side of the bottle with white printed label, pick it up and place at target.",
+    "Slide the left arm in from the left, take the green bottle with indented base, and place it at target.",
+    "Come in left of the bottle with white printed label, pick it up with the left arm, then drop at target.",
+    "Come in from the left of the bottle with rounded neck, grab the bottle with rounded neck, place at target.",
+    "Move in from the bottle with ridges near base's left, grab it, and set it at target.",
+    "Approach the medium green bottle with capped neck from the left, pick up the medium green bottle with capped neck, then place at target.",
+    "Use the left arm from the left to grab the smooth green plastic bottle, then place it at target.",
+    "Move the left arm to the left side of the bottle with rounded neck, lift the bottle with rounded neck, place at target.",
+    "Slide to the bottle with ridges near base's left, lift the bottle with ridges near base, then drop the bottle with ridges near base at target.",
+    "Approach the smooth green bottle from left; with the left arm, grip the smooth green bottle; place at target.",
+    "Approach the medium green bottle from the left, lift it, then place it at target.",
+    "Line up left of the bottle with white printed label, grasp it with the left arm, and put it on target.",
+    "From the bottle with rounded neck's left, use the left arm to grasp the bottle with rounded neck, then place at target.",
+    "Enter from the bottle with ridges near base's left, take the bottle with ridges near base, and set the bottle with ridges near base at target.",
+    "Position the left arm left of the smooth green bottle, take the smooth green bottle, and set the smooth green bottle at target.",
+    "Line up the left arm on the bottle with rounded neck's left, grasp the bottle with rounded neck, set it at target.",
+    "From the left of the medium green bottle with capped neck, lift the medium green bottle with capped neck and place the medium green bottle with capped neck at target.",
+    "Bring the left arm to the medium-sized green bottle's left, take the medium-sized green bottle, and set it at target.",
+    "Come from the left of the green bottle with indented base, lift it, and drop it at target.",
+    "Approach the green bottle with indented base on its left, take it, then put it at target.",
+    "From the left side of the green bottle with indented base, pick it up and place at target.",
+    "Slide the left arm in from the left, take the medium green bottle, and place it at target.",
+    "Come in left of the bottle with white printed label, pick it up with the left arm, then drop at target.",
+    "Come in from the left of the bottle with ridges near base, grab the bottle with ridges near base, place at target.",
+    "Move in from the medium-sized green bottle's left, grab it, and set it at target.",
+    "Approach the medium-sized green bottle from the left, pick up the medium-sized green bottle, then place at target.",
+    "Use the left arm from the left to grab the bottle with white printed label, then place it at target.",
+    "Move the left arm to the left side of the bottle with rounded neck, lift the bottle with rounded neck, place at target.",
+    "Slide to the bottle with narrow top's left, lift the bottle with narrow top, then drop the bottle with narrow top at target.",
+    "Approach the medium green bottle with capped neck from left; with the left arm, grip the medium green bottle with capped neck; place at target.",
+    "Approach the green bottle with indented base from the left, lift it, then place it at target.",
+    "Line up left of the smooth green plastic bottle, grasp it with the left arm, and put it on target.",
+    "From the medium-sized green bottle's left, use the left arm to grasp the medium-sized green bottle, then place at target.",
+    "Enter from the medium green bottle's left, take the medium green bottle, and set the medium green bottle at target.",
+    "Position the left arm left of the plastic bottle, take the plastic bottle, and set the plastic bottle at target.",
+    "Line up the left arm on the medium green bottle's left, grasp the medium green bottle, set it at target.",
+    "From the left of the bottle with rounded neck, lift the bottle with rounded neck and place the bottle with rounded neck at target.",
+    "Bring the left arm to the smooth green plastic bottle's left, take the smooth green plastic bottle, and set it at target.",
+    "Come from the left of the bottle with ridges near base, lift it, and drop it at target.",
+    "Approach the bottle with ridges near base on its left, take it, then put it at target.",
+    "From the left side of the medium green bottle, pick it up and place at target.",
+    "Slide the left arm in from the left, take the handheld green bottle, and place it at target.",
+    "Come in left of the medium green bottle with capped neck, pick it up with the left arm, then drop at target.",
+    "Come in from the left of the plastic bottle, grab the plastic bottle, place at target.",
+    "Move in from the plastic bottle's left, grab it, and set it at target.",
+    "Approach the smooth green plastic bottle from the left, pick up the smooth green plastic bottle, then place at target.",
+    "Use the left arm from the left to grab the bottle with rounded neck, then place it at target.",
+    "Move the left arm to the left side of the smooth green bottle, lift the smooth green bottle, place at target.",
+    "Slide to the medium-sized green bottle's left, lift the medium-sized green bottle, then drop the medium-sized green bottle at target.",
+    "Approach the medium green bottle from left; with the left arm, grip the medium green bottle; place at target.",
+    "Approach the bottle with narrow top from the left, lift it, then place it at target.",
+    "Line up left of the smooth green plastic bottle, grasp it with the left arm, and put it on target.",
+    "From the plastic bottle's left, use the left arm to grasp the plastic bottle, then place at target.",
+    "Enter from the plastic bottle's left, take the plastic bottle, and set the plastic bottle at target.",
+    "Position the left arm left of the bottle with rounded neck, take the bottle with rounded neck, and set the bottle with rounded neck at target.",
+    "Line up the left arm on the plastic bottle's left, grasp the plastic bottle, set it at target.",
+    "From the left of the smooth green plastic bottle, lift the smooth green plastic bottle and place the smooth green plastic bottle at target.",
+    "Bring the left arm to the bottle with white printed label's left, take the bottle with white printed label, and set it at target.",
+    "Come from the left of the smooth green plastic bottle, lift it, and drop it at target.",
+    "Approach the medium green bottle with capped neck on its left, take it, then put it at target.",
+    "From the left side of the medium green bottle, pick it up and place at target.",
+    "Slide the left arm in from the left, take the bottle with ridges near base, and place it at target.",
+    "Come in left of the bottle with white printed label, pick it up with the left arm, then drop at target.",
+    "Come in from the left of the bottle with narrow top, grab the bottle with narrow top, place at target.",
+    "Move in from the bottle with white printed label's left, grab it, and set it at target.",
+    "Approach the medium green bottle with capped neck from the left, pick up the medium green bottle with capped neck, then place at target.",
+    "Use the left arm from the left to grab the smooth green bottle, then place it at target.",
+    "Move the left arm to the left side of the bottle with white printed label, lift the bottle with white printed label, place at target.",
+    "Slide to the smooth green plastic bottle's left, lift the smooth green plastic bottle, then drop the smooth green plastic bottle at target.",
+    "Approach the handheld green bottle from left; with the left arm, grip the handheld green bottle; place at target.",
+    "Approach the handheld green bottle from the left, lift it, then place it at target.",
+    "Line up left of the plastic bottle, grasp it with the left arm, and put it on target.",
+    "From the plastic bottle's left, use the left arm to grasp the plastic bottle, then place at target.",
+    "Enter from the medium-sized green bottle's left, take the medium-sized green bottle, and set the medium-sized green bottle at target.",
+    "Position the left arm left of the bottle with white printed label, take the bottle with white printed label, and set the bottle with white printed label at target.",
+    "Line up the left arm on the plastic bottle's left, grasp the plastic bottle, set it at target.",
+    "From the left of the smooth green plastic bottle, lift the smooth green plastic bottle and place the smooth green plastic bottle at target.",
+    "Bring the left arm to the handheld green bottle's left, take the handheld green bottle, and set it at target.",
+    "Come from the left of the bottle with narrow top, lift it, and drop it at target.",
+    "Approach the bottle with ridges near base on its left, take it, then put it at target.",
+    "From the left side of the handheld green bottle, pick it up and place at target.",
+    "Slide the left arm in from the left, take the bottle with rounded neck, and place it at target.",
+    "Come in left of the medium green bottle with capped neck, pick it up with the left arm, then drop at target.",
+    "Come in from the left of the bottle with white printed label, grab the bottle with white printed label, place at target.",
+    "Move in from the plastic bottle's left, grab it, and set it at target.",
+    "Approach the bottle with white printed label from the left, pick up the bottle with white printed label, then place at target.",
+    "Use the left arm from the left to grab the handheld green bottle, then place it at target.",
+    "Move the left arm to the left side of the bottle with narrow top, lift the bottle with narrow top, place at target.",
+    "Slide to the smooth green plastic bottle's left, lift the smooth green plastic bottle, then drop the smooth green plastic bottle at target.",
+    "Approach the medium-sized green bottle from left; with the left arm, grip the medium-sized green bottle; place at target.",
+    "Approach the bottle with narrow top from the left, lift it, then place it at target."
+  ],
+  "unseen": [
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target."
+  ]
+}

adjust_bottle_pref3/adjust_bottle_pref3/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "From the left of the bottle with narrow top, lift the bottle with narrow top and place the bottle with narrow top at target.",
+    "Line up the left arm on the medium-sized green bottle's left, grasp the medium-sized green bottle, set it at target.",
+    "Approach the bottle with ridges near base from left; with the left arm, grip the bottle with ridges near base; place at target.",
+    "Move the left arm to the left side of the medium green bottle with capped neck, lift the medium green bottle with capped neck, place at target.",
+    "Bring the left arm to the medium-sized green bottle's left, take the medium-sized green bottle, and set it at target.",
+    "From the medium green bottle with capped neck's left, use the left arm to grasp the medium green bottle with capped neck, then place at target.",
+    "Position the left arm left of the handheld green bottle, take the handheld green bottle, and set the handheld green bottle at target.",
+    "From the left side of the smooth green bottle, pick it up and place at target.",
+    "Come from the left of the green bottle with indented base, lift it, and drop it at target.",
+    "Slide to the bottle with ridges near base's left, lift the bottle with ridges near base, then drop the bottle with ridges near base at target.",
+    "Move in from the handheld green bottle's left, grab it, and set it at target.",
+    "Approach the smooth green bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the handheld green bottle, and place it at target.",
+    "Come in left of the smooth green bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the bottle with narrow top, then place it at target.",
+    "Approach the bottle with ridges near base from the left, pick up the bottle with ridges near base, then place at target.",
+    "Enter from the smooth green plastic bottle's left, take the smooth green plastic bottle, and set the smooth green plastic bottle at target.",
+    "Line up left of the bottle with ridges near base, grasp it with the left arm, and put it on target.",
+    "Approach the bottle with rounded neck on its left, take it, then put it at target.",
+    "Come in from the left of the plastic bottle, grab the plastic bottle, place at target.",
+    "From the left of the bottle with narrow top, lift the bottle with narrow top and place the bottle with narrow top at target.",
+    "Line up the left arm on the smooth green plastic bottle's left, grasp the smooth green plastic bottle, set it at target.",
+    "Approach the bottle with ridges near base from left; with the left arm, grip the bottle with ridges near base; place at target.",
+    "Move the left arm to the left side of the smooth green plastic bottle, lift the smooth green plastic bottle, place at target.",
+    "Bring the left arm to the bottle with white printed label's left, take the bottle with white printed label, and set it at target.",
+    "From the medium-sized green bottle's left, use the left arm to grasp the medium-sized green bottle, then place at target.",
+    "Position the left arm left of the smooth green bottle, take the smooth green bottle, and set the smooth green bottle at target.",
+    "From the left side of the medium green bottle with capped neck, pick it up and place at target.",
+    "Come from the left of the handheld green bottle, lift it, and drop it at target.",
+    "Slide to the bottle with narrow top's left, lift the bottle with narrow top, then drop the bottle with narrow top at target.",
+    "Move in from the bottle with narrow top's left, grab it, and set it at target.",
+    "Approach the medium green bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the plastic bottle, and place it at target.",
+    "Come in left of the smooth green bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the handheld green bottle, then place it at target.",
+    "Approach the bottle with ridges near base from the left, pick up the bottle with ridges near base, then place at target.",
+    "Enter from the bottle with ridges near base's left, take the bottle with ridges near base, and set the bottle with ridges near base at target.",
+    "Line up left of the bottle with white printed label, grasp it with the left arm, and put it on target.",
+    "Approach the medium green bottle on its left, take it, then put it at target.",
+    "Come in from the left of the green bottle with indented base, grab the green bottle with indented base, place at target.",
+    "From the left of the bottle with ridges near base, lift the bottle with ridges near base and place the bottle with ridges near base at target.",
+    "Line up the left arm on the bottle with rounded neck's left, grasp the bottle with rounded neck, set it at target.",
+    "Approach the bottle with narrow top from left; with the left arm, grip the bottle with narrow top; place at target.",
+    "Move the left arm to the left side of the medium green bottle with capped neck, lift the medium green bottle with capped neck, place at target.",
+    "Bring the left arm to the bottle with ridges near base's left, take the bottle with ridges near base, and set it at target.",
+    "From the bottle with rounded neck's left, use the left arm to grasp the bottle with rounded neck, then place at target.",
+    "Position the left arm left of the medium green bottle with capped neck, take the medium green bottle with capped neck, and set the medium green bottle with capped neck at target.",
+    "From the left side of the bottle with ridges near base, pick it up and place at target.",
+    "Come from the left of the smooth green bottle, lift it, and drop it at target.",
+    "Slide to the medium green bottle with capped neck's left, lift the medium green bottle with capped neck, then drop the medium green bottle with capped neck at target.",
+    "Move in from the handheld green bottle's left, grab it, and set it at target.",
+    "Approach the bottle with white printed label from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the bottle with rounded neck, and place it at target.",
+    "Come in left of the medium green bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the bottle with ridges near base, then place it at target.",
+    "Approach the bottle with narrow top from the left, pick up the bottle with narrow top, then place at target.",
+    "Enter from the medium green bottle with capped neck's left, take the medium green bottle with capped neck, and set the medium green bottle with capped neck at target.",
+    "Line up left of the plastic bottle, grasp it with the left arm, and put it on target.",
+    "Approach the bottle with rounded neck on its left, take it, then put it at target.",
+    "Come in from the left of the medium green bottle with capped neck, grab the medium green bottle with capped neck, place at target.",
+    "From the left of the bottle with narrow top, lift the bottle with narrow top and place the bottle with narrow top at target.",
+    "Line up the left arm on the smooth green bottle's left, grasp the smooth green bottle, set it at target.",
+    "Approach the bottle with ridges near base from left; with the left arm, grip the bottle with ridges near base; place at target.",
+    "Move the left arm to the left side of the medium green bottle, lift the medium green bottle, place at target.",
+    "Bring the left arm to the smooth green bottle's left, take the smooth green bottle, and set it at target.",
+    "From the handheld green bottle's left, use the left arm to grasp the handheld green bottle, then place at target.",
+    "Position the left arm left of the medium-sized green bottle, take the medium-sized green bottle, and set the medium-sized green bottle at target.",
+    "From the left side of the medium green bottle, pick it up and place at target.",
+    "Come from the left of the bottle with rounded neck, lift it, and drop it at target.",
+    "Slide to the bottle with narrow top's left, lift the bottle with narrow top, then drop the bottle with narrow top at target.",
+    "Move in from the handheld green bottle's left, grab it, and set it at target.",
+    "Approach the bottle with ridges near base from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the medium green bottle, and place it at target.",
+    "Come in left of the smooth green plastic bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the handheld green bottle, then place it at target.",
+    "Approach the plastic bottle from the left, pick up the plastic bottle, then place at target.",
+    "Enter from the smooth green plastic bottle's left, take the smooth green plastic bottle, and set the smooth green plastic bottle at target.",
+    "Line up left of the bottle with rounded neck, grasp it with the left arm, and put it on target.",
+    "Approach the medium green bottle with capped neck on its left, take it, then put it at target.",
+    "Come in from the left of the medium green bottle, grab the medium green bottle, place at target.",
+    "From the left of the medium green bottle, lift the medium green bottle and place the medium green bottle at target.",
+    "Line up the left arm on the medium green bottle with capped neck's left, grasp the medium green bottle with capped neck, set it at target.",
+    "Approach the smooth green plastic bottle from left; with the left arm, grip the smooth green plastic bottle; place at target.",
+    "Move the left arm to the left side of the bottle with white printed label, lift the bottle with white printed label, place at target.",
+    "Bring the left arm to the bottle with rounded neck's left, take the bottle with rounded neck, and set it at target.",
+    "From the bottle with narrow top's left, use the left arm to grasp the bottle with narrow top, then place at target.",
+    "Position the left arm left of the medium-sized green bottle, take the medium-sized green bottle, and set the medium-sized green bottle at target.",
+    "From the left side of the bottle with rounded neck, pick it up and place at target.",
+    "Come from the left of the bottle with white printed label, lift it, and drop it at target.",
+    "Slide to the green bottle with indented base's left, lift the green bottle with indented base, then drop the green bottle with indented base at target.",
+    "Move in from the plastic bottle's left, grab it, and set it at target.",
+    "Approach the smooth green bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the medium green bottle with capped neck, and place it at target.",
+    "Come in left of the smooth green plastic bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the medium green bottle, then place it at target.",
+    "Approach the bottle with rounded neck from the left, pick up the bottle with rounded neck, then place at target.",
+    "Enter from the bottle with rounded neck's left, take the bottle with rounded neck, and set the bottle with rounded neck at target.",
+    "Line up left of the bottle with ridges near base, grasp it with the left arm, and put it on target.",
+    "Approach the bottle with white printed label on its left, take it, then put it at target.",
+    "Come in from the left of the handheld green bottle, grab the handheld green bottle, place at target."
+  ],
+  "unseen": [
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target."
+  ]
+}

adjust_bottle_pref3/adjust_bottle_pref3/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Line up left of the hand-sized soda bottle, grasp it with the left arm, and put it on target.",
+    "Enter from the bottle with ridges on bottom's left, take the bottle with ridges on bottom, and set the bottle with ridges on bottom at target.",
+    "From the left side of the bottle with white neck and red top, pick it up and place at target.",
+    "Move in from the bottle with white neck and red top's left, grab it, and set it at target.",
+    "Position the left arm left of the narrow-necked bottle, take the narrow-necked bottle, and set the narrow-necked bottle at target.",
+    "Come in left of the red-capped bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the narrow-necked bottle, then place it at target.",
+    "Slide to the plastic drink bottle's left, lift the plastic drink bottle, then drop the plastic drink bottle at target.",
+    "From the medium dark brown bottle's left, use the left arm to grasp the medium dark brown bottle, then place at target.",
+    "Line up the left arm on the red-capped bottle's left, grasp the red-capped bottle, set it at target.",
+    "Slide the left arm in from the left, take the plastic drink bottle, and place it at target.",
+    "Approach the bottle with white neck and red top from the left, pick up the bottle with white neck and red top, then place at target.",
+    "Approach the narrow-necked bottle from left; with the left arm, grip the narrow-necked bottle; place at target.",
+    "Approach the brown bottle with red label from the left, lift it, then place it at target.",
+    "Bring the left arm to the red-capped bottle's left, take the red-capped bottle, and set it at target.",
+    "Move the left arm to the left side of the narrow-necked bottle, lift the narrow-necked bottle, place at target.",
+    "Come in from the left of the Coca-Cola bottle, grab the Coca-Cola bottle, place at target.",
+    "Approach the plastic drink bottle on its left, take it, then put it at target.",
+    "Come from the left of the red-capped bottle, lift it, and drop it at target.",
+    "From the left of the narrow-necked bottle, lift the narrow-necked bottle and place the narrow-necked bottle at target.",
+    "Line up left of the long thin bottle, grasp it with the left arm, and put it on target.",
+    "Enter from the bottle with ridges on bottom's left, take the bottle with ridges on bottom, and set the bottle with ridges on bottom at target.",
+    "From the left side of the narrow-necked bottle, pick it up and place at target.",
+    "Move in from the narrow-necked bottle's left, grab it, and set it at target.",
+    "Position the left arm left of the smooth bottle with red lid, take the smooth bottle with red lid, and set the smooth bottle with red lid at target.",
+    "Come in left of the narrow-necked bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the long thin bottle, then place it at target.",
+    "Slide to the plastic drink bottle's left, lift the plastic drink bottle, then drop the plastic drink bottle at target.",
+    "From the dark drink bottle with logo's left, use the left arm to grasp the dark drink bottle with logo, then place at target.",
+    "Line up the left arm on the dark drink bottle with logo's left, grasp the dark drink bottle with logo, set it at target.",
+    "Slide the left arm in from the left, take the red-capped bottle, and place it at target.",
+    "Approach the bottle with white neck and red top from the left, pick up the bottle with white neck and red top, then place at target.",
+    "Approach the brown bottle with red label from left; with the left arm, grip the brown bottle with red label; place at target.",
+    "Approach the red-capped bottle from the left, lift it, then place it at target.",
+    "Bring the left arm to the Coca-Cola bottle's left, take the Coca-Cola bottle, and set it at target.",
+    "Move the left arm to the left side of the medium dark brown bottle, lift the medium dark brown bottle, place at target.",
+    "Come in from the left of the medium dark brown bottle, grab the medium dark brown bottle, place at target.",
+    "Approach the dark drink bottle with logo on its left, take it, then put it at target.",
+    "Come from the left of the red-capped bottle, lift it, and drop it at target.",
+    "From the left of the medium dark brown bottle, lift the medium dark brown bottle and place the medium dark brown bottle at target.",
+    "Line up left of the Coca-Cola bottle, grasp it with the left arm, and put it on target.",
+    "Enter from the bottle with ridges on bottom's left, take the bottle with ridges on bottom, and set the bottle with ridges on bottom at target.",
+    "From the left side of the long thin bottle, pick it up and place at target.",
+    "Move in from the smooth bottle with red lid's left, grab it, and set it at target.",
+    "Position the left arm left of the plastic drink bottle, take the plastic drink bottle, and set the plastic drink bottle at target.",
+    "Come in left of the narrow-necked bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the plastic drink bottle, then place it at target.",
+    "Slide to the dark drink bottle with logo's left, lift the dark drink bottle with logo, then drop the dark drink bottle with logo at target.",
+    "From the bottle with ridges on bottom's left, use the left arm to grasp the bottle with ridges on bottom, then place at target.",
+    "Line up the left arm on the dark drink bottle with logo's left, grasp the dark drink bottle with logo, set it at target.",
+    "Slide the left arm in from the left, take the red-capped bottle, and place it at target.",
+    "Approach the medium dark brown bottle from the left, pick up the medium dark brown bottle, then place at target.",
+    "Approach the Coca-Cola bottle from left; with the left arm, grip the Coca-Cola bottle; place at target.",
+    "Approach the long thin bottle from the left, lift it, then place it at target.",
+    "Bring the left arm to the hand-sized soda bottle's left, take the hand-sized soda bottle, and set it at target.",
+    "Move the left arm to the left side of the dark drink bottle with logo, lift the dark drink bottle with logo, place at target.",
+    "Come in from the left of the long thin bottle, grab the long thin bottle, place at target.",
+    "Approach the plastic drink bottle on its left, take it, then put it at target.",
+    "Come from the left of the medium dark brown bottle, lift it, and drop it at target.",
+    "From the left of the bottle with white neck and red top, lift the bottle with white neck and red top and place the bottle with white neck and red top at target.",
+    "Line up left of the medium dark brown bottle, grasp it with the left arm, and put it on target.",
+    "Enter from the hand-sized soda bottle's left, take the hand-sized soda bottle, and set the hand-sized soda bottle at target.",
+    "From the left side of the bottle with white neck and red top, pick it up and place at target.",
+    "Move in from the bottle with ridges on bottom's left, grab it, and set it at target.",
+    "Position the left arm left of the brown bottle with red label, take the brown bottle with red label, and set the brown bottle with red label at target.",
+    "Come in left of the plastic drink bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the bottle with white neck and red top, then place it at target.",
+    "Slide to the red-capped bottle's left, lift the red-capped bottle, then drop the red-capped bottle at target.",
+    "From the long thin bottle's left, use the left arm to grasp the long thin bottle, then place at target.",
+    "Line up the left arm on the smooth bottle with red lid's left, grasp the smooth bottle with red lid, set it at target.",
+    "Slide the left arm in from the left, take the bottle with white neck and red top, and place it at target.",
+    "Approach the hand-sized soda bottle from the left, pick up the hand-sized soda bottle, then place at target.",
+    "Approach the hand-sized soda bottle from left; with the left arm, grip the hand-sized soda bottle; place at target.",
+    "Approach the dark drink bottle with logo from the left, lift it, then place it at target.",
+    "Bring the left arm to the Coca-Cola bottle's left, take the Coca-Cola bottle, and set it at target.",
+    "Move the left arm to the left side of the long thin bottle, lift the long thin bottle, place at target.",
+    "Come in from the left of the plastic drink bottle, grab the plastic drink bottle, place at target.",
+    "Approach the dark drink bottle with logo on its left, take it, then put it at target.",
+    "Come from the left of the dark drink bottle with logo, lift it, and drop it at target.",
+    "From the left of the Coca-Cola bottle, lift the Coca-Cola bottle and place the Coca-Cola bottle at target.",
+    "Line up left of the brown bottle with red label, grasp it with the left arm, and put it on target.",
+    "Enter from the Coca-Cola bottle's left, take the Coca-Cola bottle, and set the Coca-Cola bottle at target.",
+    "From the left side of the dark drink bottle with logo, pick it up and place at target.",
+    "Move in from the bottle with white neck and red top's left, grab it, and set it at target.",
+    "Position the left arm left of the hand-sized soda bottle, take the hand-sized soda bottle, and set the hand-sized soda bottle at target.",
+    "Come in left of the plastic drink bottle, pick it up with the left arm, then drop at target.",
+    "Use the left arm from the left to grab the dark drink bottle with logo, then place it at target.",
+    "Slide to the long thin bottle's left, lift the long thin bottle, then drop the long thin bottle at target.",
+    "From the medium dark brown bottle's left, use the left arm to grasp the medium dark brown bottle, then place at target.",
+    "Line up the left arm on the red-capped bottle's left, grasp the red-capped bottle, set it at target.",
+    "Slide the left arm in from the left, take the smooth bottle with red lid, and place it at target.",
+    "Approach the plastic drink bottle from the left, pick up the plastic drink bottle, then place at target.",
+    "Approach the smooth bottle with red lid from left; with the left arm, grip the smooth bottle with red lid; place at target.",
+    "Approach the brown bottle with red label from the left, lift it, then place it at target.",
+    "Bring the left arm to the medium dark brown bottle's left, take the medium dark brown bottle, and set it at target.",
+    "Move the left arm to the left side of the red-capped bottle, lift the red-capped bottle, place at target.",
+    "Come in from the left of the bottle with ridges on bottom, grab the bottle with ridges on bottom, place at target.",
+    "Approach the bottle with white neck and red top on its left, take it, then put it at target.",
+    "Come from the left of the narrow-necked bottle, lift it, and drop it at target.",
+    "From the left of the bottle with ridges on bottom, lift the bottle with ridges on bottom and place the bottle with ridges on bottom at target."
+  ],
+  "unseen": [
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target."
+  ]
+}

adjust_bottle_pref3/adjust_bottle_pref3/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the left arm to the left side of the bottle with ridges on bottom, lift the bottle with ridges on bottom, place at target.",
+    "Approach the bottle with white neck and red top from the left, lift it, then place it at target.",
+    "Line up left of the red-capped bottle, grasp it with the left arm, and put it on target.",
+    "Slide to the bottle with ridges on bottom's left, lift the bottle with ridges on bottom, then drop the bottle with ridges on bottom at target.",
+    "Approach the plastic drink bottle from left; with the left arm, grip the plastic drink bottle; place at target.",
+    "From the smooth bottle with red lid's left, use the left arm to grasp the smooth bottle with red lid, then place at target.",
+    "Position the left arm left of the medium dark brown bottle, take the medium dark brown bottle, and set the medium dark brown bottle at target.",
+    "Use the left arm from the left to grab the plastic drink bottle, then place it at target.",
+    "Approach the bottle with white neck and red top from the left, pick up the bottle with white neck and red top, then place at target.",
+    "From the left side of the smooth bottle with red lid, pick it up and place at target.",
+    "Come from the left of the bottle with white neck and red top, lift it, and drop it at target.",
+    "Approach the smooth bottle with red lid on its left, take it, then put it at target.",
+    "Move in from the long thin bottle's left, grab it, and set it at target.",
+    "Come in left of the dark drink bottle with logo, pick it up with the left arm, then drop at target.",
+    "Enter from the narrow-necked bottle's left, take the narrow-necked bottle, and set the narrow-necked bottle at target.",
+    "From the left of the brown bottle with red label, lift the brown bottle with red label and place the brown bottle with red label at target.",
+    "Bring the left arm to the medium dark brown bottle's left, take the medium dark brown bottle, and set it at target.",
+    "Come in from the left of the bottle with white neck and red top, grab the bottle with white neck and red top, place at target.",
+    "Slide the left arm in from the left, take the long thin bottle, and place it at target.",
+    "Line up the left arm on the long thin bottle's left, grasp the long thin bottle, set it at target.",
+    "Move the left arm to the left side of the medium dark brown bottle, lift the medium dark brown bottle, place at target.",
+    "Approach the hand-sized soda bottle from the left, lift it, then place it at target.",
+    "Line up left of the long thin bottle, grasp it with the left arm, and put it on target.",
+    "Slide to the medium dark brown bottle's left, lift the medium dark brown bottle, then drop the medium dark brown bottle at target.",
+    "Approach the plastic drink bottle from left; with the left arm, grip the plastic drink bottle; place at target.",
+    "From the brown bottle with red label's left, use the left arm to grasp the brown bottle with red label, then place at target.",
+    "Position the left arm left of the dark drink bottle with logo, take the dark drink bottle with logo, and set the dark drink bottle with logo at target.",
+    "Use the left arm from the left to grab the plastic drink bottle, then place it at target.",
+    "Approach the smooth bottle with red lid from the left, pick up the smooth bottle with red lid, then place at target.",
+    "From the left side of the bottle with white neck and red top, pick it up and place at target.",
+    "Come from the left of the long thin bottle, lift it, and drop it at target.",
+    "Approach the Coca-Cola bottle on its left, take it, then put it at target.",
+    "Move in from the narrow-necked bottle's left, grab it, and set it at target.",
+    "Come in left of the long thin bottle, pick it up with the left arm, then drop at target.",
+    "Enter from the red-capped bottle's left, take the red-capped bottle, and set the red-capped bottle at target.",
+    "From the left of the dark drink bottle with logo, lift the dark drink bottle with logo and place the dark drink bottle with logo at target.",
+    "Bring the left arm to the brown bottle with red label's left, take the brown bottle with red label, and set it at target.",
+    "Come in from the left of the plastic drink bottle, grab the plastic drink bottle, place at target.",
+    "Slide the left arm in from the left, take the narrow-necked bottle, and place it at target.",
+    "Line up the left arm on the smooth bottle with red lid's left, grasp the smooth bottle with red lid, set it at target.",
+    "Move the left arm to the left side of the plastic drink bottle, lift the plastic drink bottle, place at target.",
+    "Approach the hand-sized soda bottle from the left, lift it, then place it at target.",
+    "Line up left of the medium dark brown bottle, grasp it with the left arm, and put it on target.",
+    "Slide to the narrow-necked bottle's left, lift the narrow-necked bottle, then drop the narrow-necked bottle at target.",
+    "Approach the bottle with ridges on bottom from left; with the left arm, grip the bottle with ridges on bottom; place at target.",
+    "From the brown bottle with red label's left, use the left arm to grasp the brown bottle with red label, then place at target.",
+    "Position the left arm left of the red-capped bottle, take the red-capped bottle, and set the red-capped bottle at target.",
+    "Use the left arm from the left to grab the red-capped bottle, then place it at target.",
+    "Approach the Coca-Cola bottle from the left, pick up the Coca-Cola bottle, then place at target.",
+    "From the left side of the plastic drink bottle, pick it up and place at target.",
+    "Come from the left of the plastic drink bottle, lift it, and drop it at target.",
+    "Approach the bottle with white neck and red top on its left, take it, then put it at target.",
+    "Move in from the dark drink bottle with logo's left, grab it, and set it at target.",
+    "Come in left of the brown bottle with red label, pick it up with the left arm, then drop at target.",
+    "Enter from the bottle with ridges on bottom's left, take the bottle with ridges on bottom, and set the bottle with ridges on bottom at target.",
+    "From the left of the bottle with white neck and red top, lift the bottle with white neck and red top and place the bottle with white neck and red top at target.",
+    "Bring the left arm to the narrow-necked bottle's left, take the narrow-necked bottle, and set it at target.",
+    "Come in from the left of the smooth bottle with red lid, grab the smooth bottle with red lid, place at target.",
+    "Slide the left arm in from the left, take the medium dark brown bottle, and place it at target.",
+    "Line up the left arm on the brown bottle with red label's left, grasp the brown bottle with red label, set it at target.",
+    "Move the left arm to the left side of the medium dark brown bottle, lift the medium dark brown bottle, place at target.",
+    "Approach the smooth bottle with red lid from the left, lift it, then place it at target.",
+    "Line up left of the hand-sized soda bottle, grasp it with the left arm, and put it on target.",
+    "Slide to the red-capped bottle's left, lift the red-capped bottle, then drop the red-capped bottle at target.",
+    "Approach the medium dark brown bottle from left; with the left arm, grip the medium dark brown bottle; place at target.",
+    "From the bottle with white neck and red top's left, use the left arm to grasp the bottle with white neck and red top, then place at target.",
+    "Position the left arm left of the bottle with white neck and red top, take the bottle with white neck and red top, and set the bottle with white neck and red top at target.",
+    "Use the left arm from the left to grab the dark drink bottle with logo, then place it at target.",
+    "Approach the bottle with white neck and red top from the left, pick up the bottle with white neck and red top, then place at target.",
+    "From the left side of the brown bottle with red label, pick it up and place at target.",
+    "Come from the left of the bottle with ridges on bottom, lift it, and drop it at target.",
+    "Approach the medium dark brown bottle on its left, take it, then put it at target.",
+    "Move in from the plastic drink bottle's left, grab it, and set it at target.",
+    "Come in left of the plastic drink bottle, pick it up with the left arm, then drop at target.",
+    "Enter from the bottle with ridges on bottom's left, take the bottle with ridges on bottom, and set the bottle with ridges on bottom at target.",
+    "From the left of the narrow-necked bottle, lift the narrow-necked bottle and place the narrow-necked bottle at target.",
+    "Bring the left arm to the dark drink bottle with logo's left, take the dark drink bottle with logo, and set it at target.",
+    "Come in from the left of the long thin bottle, grab the long thin bottle, place at target.",
+    "Slide the left arm in from the left, take the hand-sized soda bottle, and place it at target.",
+    "Line up the left arm on the plastic drink bottle's left, grasp the plastic drink bottle, set it at target.",
+    "Move the left arm to the left side of the dark drink bottle with logo, lift the dark drink bottle with logo, place at target.",
+    "Approach the smooth bottle with red lid from the left, lift it, then place it at target.",
+    "Line up left of the bottle with white neck and red top, grasp it with the left arm, and put it on target.",
+    "Slide to the bottle with white neck and red top's left, lift the bottle with white neck and red top, then drop the bottle with white neck and red top at target.",
+    "Approach the red-capped bottle from left; with the left arm, grip the red-capped bottle; place at target.",
+    "From the red-capped bottle's left, use the left arm to grasp the red-capped bottle, then place at target.",
+    "Position the left arm left of the hand-sized soda bottle, take the hand-sized soda bottle, and set the hand-sized soda bottle at target.",
+    "Use the left arm from the left to grab the bottle with ridges on bottom, then place it at target.",
+    "Approach the brown bottle with red label from the left, pick up the brown bottle with red label, then place at target.",
+    "From the left side of the Coca-Cola bottle, pick it up and place at target.",
+    "Come from the left of the narrow-necked bottle, lift it, and drop it at target.",
+    "Approach the red-capped bottle on its left, take it, then put it at target.",
+    "Move in from the hand-sized soda bottle's left, grab it, and set it at target.",
+    "Come in left of the Coca-Cola bottle, pick it up with the left arm, then drop at target.",
+    "Enter from the bottle with white neck and red top's left, take the bottle with white neck and red top, and set the bottle with white neck and red top at target.",
+    "From the left of the plastic drink bottle, lift the plastic drink bottle and place the plastic drink bottle at target.",
+    "Bring the left arm to the bottle with white neck and red top's left, take the bottle with white neck and red top, and set it at target.",
+    "Come in from the left of the plastic drink bottle, grab the plastic drink bottle, place at target.",
+    "Slide the left arm in from the left, take the medium dark brown bottle, and place it at target.",
+    "Line up the left arm on the long thin bottle's left, grasp the long thin bottle, set it at target."
+  ],
+  "unseen": [
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the bottle with red screw cap using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the plastic soda bottle's left side, grab the plastic soda bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the bottle with red screw cap from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the plastic soda bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the brown bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the plastic soda bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the bottle with red screw cap's left side, grab the bottle with red screw cap, place at target.",
+    "Approach the bottle with red screw cap from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target.",
+    "Bring the left arm to the brown bottle's left side, grab the brown bottle, place at target.",
+    "Approach the brown bottle from the left, grab with the left arm, then place at target.",
+    "From the left side, grip the plastic soda bottle using the left arm, and set it on target.",
+    "Approach the brown bottle from the left, pick it up, set it at target."
+  ]
+}

adjust_bottle_pref3/adjust_bottle_pref3/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "From the left side of the medium-sized green bottle, pick it up and place at target.",
+    "Approach the medium-sized green bottle on its left, take it, then put it at target.",
+    "Slide to the handheld green bottle's left, lift the handheld green bottle, then drop the handheld green bottle at target.",
+    "Come in from the left of the smooth green bottle, grab the smooth green bottle, place at target.",
+    "From the left of the medium green bottle with capped neck, lift the medium green bottle with capped neck and place the medium green bottle with capped neck at target.",
+    "Move in from the plastic bottle's left, grab it, and set it at target.",
+    "Approach the smooth green bottle from left; with the left arm, grip the smooth green bottle; place at target.",
+    "Line up left of the medium green bottle with capped neck, grasp it with the left arm, and put it on target.",
+    "Approach the green bottle with indented base from the left, pick up the green bottle with indented base, then place at target.",
+    "Use the left arm from the left to grab the green bottle with indented base, then place it at target.",
+    "Position the left arm left of the bottle with narrow top, take the bottle with narrow top, and set the bottle with narrow top at target.",
+    "Come in left of the handheld green bottle, pick it up with the left arm, then drop at target.",
+    "Approach the bottle with narrow top from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the smooth green bottle, and place it at target.",
+    "Line up the left arm on the bottle with ridges near base's left, grasp the bottle with ridges near base, set it at target.",
+    "Enter from the bottle with white printed label's left, take the bottle with white printed label, and set the bottle with white printed label at target.",
+    "Bring the left arm to the medium-sized green bottle's left, take the medium-sized green bottle, and set it at target.",
+    "Come from the left of the medium-sized green bottle, lift it, and drop it at target.",
+    "Move the left arm to the left side of the medium green bottle with capped neck, lift the medium green bottle with capped neck, place at target.",
+    "From the smooth green plastic bottle's left, use the left arm to grasp the smooth green plastic bottle, then place at target.",
+    "From the left side of the medium green bottle with capped neck, pick it up and place at target.",
+    "Approach the handheld green bottle on its left, take it, then put it at target.",
+    "Slide to the green bottle with indented base's left, lift the green bottle with indented base, then drop the green bottle with indented base at target.",
+    "Come in from the left of the smooth green bottle, grab the smooth green bottle, place at target.",
+    "From the left of the plastic bottle, lift the plastic bottle and place the plastic bottle at target.",
+    "Move in from the green bottle with indented base's left, grab it, and set it at target.",
+    "Approach the medium green bottle with capped neck from left; with the left arm, grip the medium green bottle with capped neck; place at target.",
+    "Line up left of the bottle with white printed label, grasp it with the left arm, and put it on target.",
+    "Approach the smooth green bottle from the left, pick up the smooth green bottle, then place at target.",
+    "Use the left arm from the left to grab the medium-sized green bottle, then place it at target.",
+    "Position the left arm left of the plastic bottle, take the plastic bottle, and set the plastic bottle at target.",
+    "Come in left of the bottle with rounded neck, pick it up with the left arm, then drop at target.",
+    "Approach the handheld green bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the bottle with rounded neck, and place it at target.",
+    "Line up the left arm on the bottle with rounded neck's left, grasp the bottle with rounded neck, set it at target.",
+    "Enter from the smooth green plastic bottle's left, take the smooth green plastic bottle, and set the smooth green plastic bottle at target.",
+    "Bring the left arm to the bottle with ridges near base's left, take the bottle with ridges near base, and set it at target.",
+    "Come from the left of the medium green bottle, lift it, and drop it at target.",
+    "Move the left arm to the left side of the medium green bottle, lift the medium green bottle, place at target.",
+    "From the medium-sized green bottle's left, use the left arm to grasp the medium-sized green bottle, then place at target.",
+    "From the left side of the bottle with narrow top, pick it up and place at target.",
+    "Approach the plastic bottle on its left, take it, then put it at target.",
+    "Slide to the bottle with rounded neck's left, lift the bottle with rounded neck, then drop the bottle with rounded neck at target.",
+    "Come in from the left of the medium green bottle with capped neck, grab the medium green bottle with capped neck, place at target.",
+    "From the left of the handheld green bottle, lift the handheld green bottle and place the handheld green bottle at target.",
+    "Move in from the plastic bottle's left, grab it, and set it at target.",
+    "Approach the plastic bottle from left; with the left arm, grip the plastic bottle; place at target.",
+    "Line up left of the bottle with rounded neck, grasp it with the left arm, and put it on target.",
+    "Approach the medium green bottle with capped neck from the left, pick up the medium green bottle with capped neck, then place at target.",
+    "Use the left arm from the left to grab the smooth green bottle, then place it at target.",
+    "Position the left arm left of the bottle with rounded neck, take the bottle with rounded neck, and set the bottle with rounded neck at target.",
+    "Come in left of the bottle with white printed label, pick it up with the left arm, then drop at target.",
+    "Approach the green bottle with indented base from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the bottle with ridges near base, and place it at target.",
+    "Line up the left arm on the bottle with ridges near base's left, grasp the bottle with ridges near base, set it at target.",
+    "Enter from the smooth green plastic bottle's left, take the smooth green plastic bottle, and set the smooth green plastic bottle at target.",
+    "Bring the left arm to the medium-sized green bottle's left, take the medium-sized green bottle, and set it at target.",
+    "Come from the left of the medium green bottle, lift it, and drop it at target.",
+    "Move the left arm to the left side of the medium green bottle, lift the medium green bottle, place at target.",
+    "From the bottle with narrow top's left, use the left arm to grasp the bottle with narrow top, then place at target.",
+    "From the left side of the medium green bottle, pick it up and place at target.",
+    "Approach the smooth green bottle on its left, take it, then put it at target.",
+    "Slide to the handheld green bottle's left, lift the handheld green bottle, then drop the handheld green bottle at target.",
+    "Come in from the left of the green bottle with indented base, grab the green bottle with indented base, place at target.",
+    "From the left of the handheld green bottle, lift the handheld green bottle and place the handheld green bottle at target.",
+    "Move in from the bottle with narrow top's left, grab it, and set it at target.",
+    "Approach the handheld green bottle from left; with the left arm, grip the handheld green bottle; place at target.",
+    "Line up left of the bottle with white printed label, grasp it with the left arm, and put it on target.",
+    "Approach the smooth green bottle from the left, pick up the smooth green bottle, then place at target.",
+    "Use the left arm from the left to grab the medium green bottle with capped neck, then place it at target.",
+    "Position the left arm left of the bottle with ridges near base, take the bottle with ridges near base, and set the bottle with ridges near base at target.",
+    "Come in left of the handheld green bottle, pick it up with the left arm, then drop at target.",
+    "Approach the plastic bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the medium green bottle with capped neck, and place it at target.",
+    "Line up the left arm on the green bottle with indented base's left, grasp the green bottle with indented base, set it at target.",
+    "Enter from the bottle with narrow top's left, take the bottle with narrow top, and set the bottle with narrow top at target.",
+    "Bring the left arm to the medium-sized green bottle's left, take the medium-sized green bottle, and set it at target.",
+    "Come from the left of the medium-sized green bottle, lift it, and drop it at target.",
+    "Move the left arm to the left side of the plastic bottle, lift the plastic bottle, place at target.",
+    "From the medium-sized green bottle's left, use the left arm to grasp the medium-sized green bottle, then place at target.",
+    "From the left side of the bottle with narrow top, pick it up and place at target.",
+    "Approach the smooth green bottle on its left, take it, then put it at target.",
+    "Slide to the bottle with ridges near base's left, lift the bottle with ridges near base, then drop the bottle with ridges near base at target.",
+    "Come in from the left of the bottle with rounded neck, grab the bottle with rounded neck, place at target.",
+    "From the left of the bottle with ridges near base, lift the bottle with ridges near base and place the bottle with ridges near base at target.",
+    "Move in from the smooth green plastic bottle's left, grab it, and set it at target.",
+    "Approach the smooth green bottle from left; with the left arm, grip the smooth green bottle; place at target.",
+    "Line up left of the medium-sized green bottle, grasp it with the left arm, and put it on target.",
+    "Approach the handheld green bottle from the left, pick up the handheld green bottle, then place at target.",
+    "Use the left arm from the left to grab the bottle with ridges near base, then place it at target.",
+    "Position the left arm left of the medium-sized green bottle, take the medium-sized green bottle, and set the medium-sized green bottle at target.",
+    "Come in left of the green bottle with indented base, pick it up with the left arm, then drop at target.",
+    "Approach the medium green bottle from the left, lift it, then place it at target.",
+    "Slide the left arm in from the left, take the bottle with narrow top, and place it at target.",
+    "Line up the left arm on the smooth green plastic bottle's left, grasp the smooth green plastic bottle, set it at target.",
+    "Enter from the smooth green bottle's left, take the smooth green bottle, and set the smooth green bottle at target.",
+    "Bring the left arm to the bottle with narrow top's left, take the bottle with narrow top, and set it at target.",
+    "Come from the left of the bottle with ridges near base, lift it, and drop it at target.",
+    "Move the left arm to the left side of the green bottle with indented base, lift the green bottle with indented base, place at target.",
+    "From the bottle with white printed label's left, use the left arm to grasp the bottle with white printed label, then place at target."
+  ],
+  "unseen": [
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green plastic bottle with ridged bottom's left side, grab the green plastic bottle with ridged bottom, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle with white label from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green plastic bottle with ridged bottom from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green bottle with white label using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle with white label's left side, grab the green bottle with white label, place at target.",
+    "From the left side, grip the green plastic bottle with ridged bottom using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green plastic bottle with ridged bottom from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target.",
+    "From the left side, grip the green bottle using the left arm, and set it on target.",
+    "Approach the green bottle with white label from the left, pick it up, set it at target.",
+    "Approach the green bottle from the left, grab with the left arm, then place at target.",
+    "Bring the left arm to the green bottle's left side, grab the green bottle, place at target."
+  ]
+}

adjust_bottle_pref3/adjust_bottle_pref3/scene_info.json

@@ -0,0 +1,552 @@
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