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+{
+  "seen": [
+    "With the left arm, take the bottle with white printed label up, steer past the shampoo bottle with pink cap, and place the bottle with white printed label upright.",
+    "Pick up the bottle with narrow top, route it around the white shampoo bottle, then stand the bottle with narrow top upright.",
+    "Lift the medium green bottle, guide it around the glossy white shampoo bottle, then stand the medium green bottle upright.",
+    "With the left arm, take the green bottle with indented base, pass outside the pink-topped shampoo bottle, and put the green bottle with indented base upright.",
+    "Grab the handheld green bottle, keep it away from the shampoo dispenser with flat base, and put the handheld green bottle down upright.",
+    "Using the left arm, grasp the bottle with narrow top, move it past the glossy white shampoo bottle, then stand the bottle with narrow top up.",
+    "With the left arm, pick up the handheld green bottle, steer away from the smooth white shampoo dispenser, and stand the handheld green bottle up.",
+    "Use the left arm, raise the plastic bottle, keep distance from the oval-shaped shampoo bottle, then place the plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the pink-topped shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "Grab the handheld green bottle, avoid the white shampoo bottle while moving, then place the handheld green bottle upright.",
+    "Grab the green bottle with indented base, carry it around the pink-topped shampoo bottle, then stand the green bottle with indented base upright.",
+    "Take the plastic bottle, keep clear of the hand-sized shampoo bottle, and place the plastic bottle upright.",
+    "Grab the bottle with ridges near base, move it without crossing the pink-topped shampoo bottle, then place the bottle with ridges near base upright.",
+    "With the left arm, pick the medium green bottle up, avoid the shampoo bottle with pink cap, and put the medium green bottle upright.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the glossy white shampoo bottle, place the smooth green plastic bottle upright.",
+    "Using the left arm, lift the plastic bottle, keep clear of the plastic shampoo container, and place the plastic bottle upright.",
+    "Use the left arm to pick the bottle with white printed label up, avoid the smooth white shampoo dispenser, and place the bottle with white printed label upright.",
+    "Lift the green bottle with indented base, keep its path clear of the white shampoo bottle, then set the green bottle with indented base upright.",
+    "Lift the bottle with rounded neck, route it around the plastic shampoo container, then set the bottle with rounded neck upright.",
+    "With the left arm, take the handheld green bottle, avoid the white body pink flip cap bottle while moving, and set the handheld green bottle upright.",
+    "Use the left arm to lift the medium green bottle, avoid the pink-topped shampoo bottle en route, and stand the medium green bottle up.",
+    "Using the left arm, pick the handheld green bottle up, keep clear of the hand-sized shampoo bottle, place the handheld green bottle upright.",
+    "Grip the medium-sized green bottle with the left arm, keep distance from the shampoo bottle with pink cap, then set the medium-sized green bottle upright.",
+    "With the left arm, lift the bottle with white printed label, keep it away from the plastic shampoo container, place the bottle with white printed label upright.",
+    "Using the left arm, lift the bottle with narrow top, pass clear of the hand-sized shampoo bottle, then place the bottle with narrow top upright.",
+    "Lift the handheld green bottle, keep its path away from the white shampoo bottle, and set the handheld green bottle upright.",
+    "Move the medium green bottle with capped neck away from the medium shampoo bottle as you lift, then place the medium green bottle with capped neck upright.",
+    "Pick up the smooth green plastic bottle with the left arm, keep it away from the glossy white shampoo bottle, place the smooth green plastic bottle upright.",
+    "Guide the left arm to take the bottle with white printed label, bypass the pink-topped shampoo bottle, and place the bottle with white printed label upright.",
+    "Grab the green bottle with indented base, steer it around the oval-shaped shampoo bottle, and place the green bottle with indented base upright.",
+    "Move the bottle with narrow top from its spot, skirt the medium oval plastic shampoo container, and stand the bottle with narrow top upright.",
+    "With the left arm, secure the smooth green bottle, pass around the medium oval plastic shampoo container, and set the smooth green bottle upright.",
+    "Pick up the bottle with narrow top, swing wide around the hand-sized shampoo bottle, and set the bottle with narrow top upright.",
+    "Take the bottle with white printed label, move it without nearing the plastic shampoo container, and stand the bottle with white printed label upright.",
+    "Grab the green bottle with indented base, keep it from the pink-topped shampoo bottle, and set the green bottle with indented base upright.",
+    "Have the left arm grasp the bottle with rounded neck, avoid the shampoo dispenser with flat base while moving, and set the bottle with rounded neck upright.",
+    "Take the plastic bottle up, skirt the glossy white shampoo bottle, and put the plastic bottle down upright.",
+    "Take the bottle with rounded neck, route it away from the plastic shampoo container, and place the bottle with rounded neck upright.",
+    "Use the left arm to grab the green bottle with indented base, carry it away from the oval-shaped shampoo bottle, set the green bottle with indented base upright.",
+    "Direct the left arm to pick the bottle with narrow top up, avoid the oval-shaped shampoo bottle, and stand the bottle with narrow top upright.",
+    "With the left arm, take the handheld green bottle up, steer past the white shampoo bottle, and place the handheld green bottle upright.",
+    "Pick up the green bottle with indented base, route it around the medium shampoo bottle, then stand the green bottle with indented base upright.",
+    "Lift the bottle with ridges near base, guide it around the white body pink flip cap bottle, then stand the bottle with ridges near base upright.",
+    "With the left arm, take the plastic bottle, pass outside the plastic shampoo container, and put the plastic bottle upright.",
+    "Grab the bottle with narrow top, keep it away from the white shampoo bottle, and put the bottle with narrow top down upright.",
+    "Using the left arm, grasp the plastic bottle, move it past the glossy white shampoo bottle, then stand the plastic bottle up.",
+    "With the left arm, pick up the bottle with narrow top, steer away from the shampoo bottle with pink cap, and stand the bottle with narrow top up.",
+    "Use the left arm, raise the medium green bottle, keep distance from the pink-topped shampoo bottle, then place the medium green bottle upright.",
+    "Lift the smooth green bottle, route its path away from the medium oval plastic shampoo container, then set the smooth green bottle upright.",
+    "Grab the handheld green bottle, avoid the hand-sized shampoo bottle while moving, then place the handheld green bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the white shampoo bottle, then stand the smooth green plastic bottle upright.",
+    "Take the medium green bottle, keep clear of the smooth white shampoo dispenser, and place the medium green bottle upright.",
+    "Grab the handheld green bottle, move it without crossing the shampoo bottle with pink cap, then place the handheld green bottle upright.",
+    "With the left arm, pick the bottle with rounded neck up, avoid the medium shampoo bottle, and put the bottle with rounded neck upright.",
+    "Pick the plastic bottle up, keep its path clear of the pink-topped shampoo bottle, place the plastic bottle upright.",
+    "Using the left arm, lift the green bottle with indented base, keep clear of the smooth white shampoo dispenser, and place the green bottle with indented base upright.",
+    "Use the left arm to pick the plastic bottle up, avoid the plastic shampoo container, and place the plastic bottle upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the hand-sized shampoo bottle, then set the bottle with ridges near base upright.",
+    "Lift the bottle with rounded neck, route it around the pink-topped shampoo bottle, then set the bottle with rounded neck upright.",
+    "With the left arm, take the handheld green bottle, avoid the medium oval plastic shampoo container while moving, and set the handheld green bottle upright.",
+    "Use the left arm to lift the bottle with rounded neck, avoid the hand-sized shampoo bottle en route, and stand the bottle with rounded neck up.",
+    "Using the left arm, pick the handheld green bottle up, keep clear of the white body pink flip cap bottle, place the handheld green bottle upright.",
+    "Grip the plastic bottle with the left arm, keep distance from the glossy white shampoo bottle, then set the plastic bottle upright.",
+    "With the left arm, lift the bottle with narrow top, keep it away from the plastic shampoo container, place the bottle with narrow top upright.",
+    "Using the left arm, lift the bottle with narrow top, pass clear of the smooth white shampoo dispenser, then place the bottle with narrow top upright.",
+    "Lift the smooth green plastic bottle, keep its path away from the white body pink flip cap bottle, and set the smooth green plastic bottle upright.",
+    "Move the bottle with rounded neck away from the medium shampoo bottle as you lift, then place the bottle with rounded neck upright.",
+    "Pick up the bottle with ridges near base with the left arm, keep it away from the plastic shampoo container, place the bottle with ridges near base upright.",
+    "Guide the left arm to take the medium green bottle with capped neck, bypass the plastic shampoo container, and place the medium green bottle with capped neck upright.",
+    "Grab the bottle with narrow top, steer it around the glossy white shampoo bottle, and place the bottle with narrow top upright.",
+    "Move the bottle with rounded neck from its spot, skirt the oval-shaped shampoo bottle, and stand the bottle with rounded neck upright.",
+    "With the left arm, secure the smooth green bottle, pass around the shampoo bottle with pink cap, and set the smooth green bottle upright.",
+    "Pick up the bottle with ridges near base, swing wide around the white shampoo bottle, and set the bottle with ridges near base upright.",
+    "Take the medium green bottle, move it without nearing the oval-shaped shampoo bottle, and stand the medium green bottle upright.",
+    "Grab the bottle with narrow top, keep it from the white body pink flip cap bottle, and set the bottle with narrow top upright.",
+    "Have the left arm grasp the medium green bottle with capped neck, avoid the plastic shampoo container while moving, and set the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top up, skirt the shampoo bottle with pink cap, and put the bottle with narrow top down upright.",
+    "Take the bottle with white printed label, route it away from the medium shampoo bottle, and place the bottle with white printed label upright.",
+    "Use the left arm to grab the medium green bottle with capped neck, carry it away from the white body pink flip cap bottle, set the medium green bottle with capped neck upright.",
+    "Direct the left arm to pick the bottle with ridges near base up, avoid the white shampoo bottle, and stand the bottle with ridges near base upright.",
+    "With the left arm, take the smooth green plastic bottle up, steer past the pink-topped shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Pick up the smooth green bottle, route it around the oval-shaped shampoo bottle, then stand the smooth green bottle upright.",
+    "Lift the green bottle with indented base, guide it around the hand-sized shampoo bottle, then stand the green bottle with indented base upright.",
+    "With the left arm, take the medium green bottle with capped neck, pass outside the pink-topped shampoo bottle, and put the medium green bottle with capped neck upright.",
+    "Grab the medium green bottle, keep it away from the pink-topped shampoo bottle, and put the medium green bottle down upright.",
+    "Using the left arm, grasp the green bottle with indented base, move it past the oval-shaped shampoo bottle, then stand the green bottle with indented base up.",
+    "With the left arm, pick up the medium green bottle with capped neck, steer away from the white shampoo bottle, and stand the medium green bottle with capped neck up.",
+    "Use the left arm, raise the plastic bottle, keep distance from the smooth white shampoo dispenser, then place the plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the pink-topped shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "Grab the medium green bottle with capped neck, avoid the shampoo bottle with pink cap while moving, then place the medium green bottle with capped neck upright.",
+    "Grab the smooth green plastic bottle, carry it around the plastic shampoo container, then stand the smooth green plastic bottle upright.",
+    "Take the green bottle with indented base, keep clear of the plastic shampoo container, and place the green bottle with indented base upright.",
+    "Grab the bottle with rounded neck, move it without crossing the medium shampoo bottle, then place the bottle with rounded neck upright.",
+    "With the left arm, pick the bottle with narrow top up, avoid the oval-shaped shampoo bottle, and put the bottle with narrow top upright.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the glossy white shampoo bottle, place the smooth green plastic bottle upright.",
+    "Using the left arm, lift the plastic bottle, keep clear of the medium oval plastic shampoo container, and place the plastic bottle upright.",
+    "Use the left arm to pick the bottle with rounded neck up, avoid the medium oval plastic shampoo container, and place the bottle with rounded neck upright.",
+    "Lift the bottle with white printed label, keep its path clear of the medium oval plastic shampoo container, then set the bottle with white printed label upright.",
+    "Lift the bottle with narrow top, route it around the white body pink flip cap bottle, then set the bottle with narrow top upright.",
+    "With the left arm, take the bottle with narrow top, avoid the medium shampoo bottle while moving, and set the bottle with narrow top upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the Dove shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the bottle for holding shampoo, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the bottle for holding shampoo, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the Dove shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the Dove shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the bottle for holding shampoo, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the Dove shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the Dove shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the bottle for holding shampoo, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the bottle for holding shampoo, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle with Dove logo, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the bottle for holding shampoo, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with Dove logo, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the bottle for holding shampoo, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the bottle for holding shampoo, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode1.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f744631537e6dd9e5612d99d4871721c8f7a0ed3
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bottle with ridges on bottom, keep clear of the shampoo bottle flat bottom edge, and place the bottle with ridges on bottom upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle tapered toward cap, then set the hand-sized soda bottle upright.",
+    "Move the hand-sized soda bottle away from the light blue shampoo bottle small size as you lift, then place the hand-sized soda bottle upright.",
+    "Pick up the red-capped bottle, route it around the curved light blue shampoo bottle, then stand the red-capped bottle upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the shampoo bottle tapered toward cap, and set the bottle with ridges on bottom upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the light blue shampoo bottle small size, and stand the bottle with ridges on bottom upright.",
+    "Lift the plastic drink bottle, guide it around the curved light blue shampoo bottle, then stand the plastic drink bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the bottle light blue rounded shape, and put the hand-sized soda bottle down upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the curved light blue shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, steer it around the curved light blue shampoo bottle, and place the brown bottle with red label upright.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the shampoo bottle with white cap, and place the brown bottle with red label upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the curved light blue shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the shampoo bottle with matte plastic, then place the red-capped bottle upright.",
+    "Take the medium dark brown bottle, route it away from the shampoo bottle with white cap, and place the medium dark brown bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the small smooth shampoo bottle, and stand the dark drink bottle with logo up.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the shampoo bottle flat bottom edge, then set the hand-sized soda bottle upright.",
+    "With the left arm, pick the plastic drink bottle up, avoid the small smooth shampoo bottle, and put the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the blue shampoo bottle slender design, then stand the medium dark brown bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the hand-sized shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Take the medium dark brown bottle, move it without nearing the blue shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the light blue shampoo bottle small size en route, and stand the smooth bottle with red lid up.",
+    "Grab the plastic drink bottle, avoid the shampoo bottle flat bottom edge while moving, then place the plastic drink bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the shampoo bottle tapered toward cap, and put the dark drink bottle with logo upright.",
+    "Using the left arm, pick the narrow-necked bottle up, keep clear of the blue shampoo bottle slender design, place the narrow-necked bottle upright.",
+    "Grab the long thin bottle, keep it from the shampoo bottle with white cap, and set the long thin bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the shampoo bottle with white cap, and place the bottle with ridges on bottom upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the shampoo bottle with matte plastic, place the red-capped bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the small smooth shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo bottle with white cap, place the plastic drink bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the shampoo bottle tapered toward cap, then set the hand-sized soda bottle upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the bottle of shampoo while moving, and set the narrow-necked bottle upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the hand-sized shampoo bottle, place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the light blue shampoo bottle small size, and set the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the shampoo bottle flat bottom edge, and stand the narrow-necked bottle upright.",
+    "Use the left arm to grab the long thin bottle, carry it away from the blue shampoo bottle, set the long thin bottle upright.",
+    "Using the left arm, grasp the long thin bottle, move it past the blue shampoo bottle, then stand the long thin bottle up.",
+    "Lift the brown bottle with red label, route it around the hand-sized shampoo bottle, then set the brown bottle with red label upright.",
+    "Grab the long thin bottle, move it without crossing the shampoo bottle tapered toward cap, then place the long thin bottle upright.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the shampoo bottle with matte plastic, and place the medium dark brown bottle upright.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the small smooth shampoo bottle, then place the plastic drink bottle upright.",
+    "Take the Coca-Cola bottle, keep clear of the shampoo bottle with matte plastic, and place the Coca-Cola bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the curved light blue shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Move the long thin bottle away from the curved light blue shampoo bottle as you lift, then place the long thin bottle upright.",
+    "Pick up the plastic drink bottle, route it around the curved light blue shampoo bottle, then stand the plastic drink bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the curved light blue shampoo bottle, and set the plastic drink bottle upright.",
+    "Move the narrow-necked bottle from its spot, skirt the bottle of shampoo, and stand the narrow-necked bottle upright.",
+    "Lift the brown bottle with red label, guide it around the shampoo bottle tapered toward cap, then stand the brown bottle with red label upright.",
+    "Take the red-capped bottle up, skirt the shampoo bottle tapered toward cap, and put the red-capped bottle down upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the shampoo bottle flat bottom edge while moving, and set the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the blue shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the shampoo bottle with white cap, and place the medium dark brown bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, keep clear of the curved light blue shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the curved light blue shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Take the brown bottle with red label, route it away from the bottle of shampoo, and place the brown bottle with red label upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the bottle of shampoo, and stand the hand-sized soda bottle up.",
+    "Grip the Coca-Cola bottle with the left arm, keep distance from the shampoo bottle tapered toward cap, then set the Coca-Cola bottle upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the shampoo bottle with matte plastic, and put the Coca-Cola bottle upright.",
+    "Grab the narrow-necked bottle, carry it around the blue shampoo bottle slender design, then stand the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, keep it away from the hand-sized shampoo bottle, and put the plastic drink bottle down upright.",
+    "Take the narrow-necked bottle, move it without nearing the light blue shampoo bottle small size, and stand the narrow-necked bottle upright.",
+    "Use the left arm to lift the plastic drink bottle, avoid the light blue shampoo bottle small size en route, and stand the plastic drink bottle up.",
+    "Grab the plastic drink bottle, avoid the bottle light blue rounded shape while moving, then place the plastic drink bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the bottle light blue rounded shape, and put the Coca-Cola bottle upright.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the blue shampoo bottle slender design, place the bottle with white neck and red top upright.",
+    "Grab the narrow-necked bottle, keep it from the bottle of shampoo, and set the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the bottle of shampoo, and place the medium dark brown bottle upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the shampoo bottle with white cap, place the medium dark brown bottle upright.",
+    "Pick up the long thin bottle, swing wide around the blue shampoo bottle slender design, and set the long thin bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo bottle with white cap, place the plastic drink bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the blue shampoo bottle, then set the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the shampoo bottle with matte plastic while moving, and set the medium dark brown bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the blue shampoo bottle slender design, place the bottle with white neck and red top upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the blue shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the dark drink bottle with logo up, avoid the blue shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the bottle light blue rounded shape, set the red-capped bottle upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the hand-sized shampoo bottle, then stand the brown bottle with red label up.",
+    "Lift the bottle with white neck and red top, route it around the blue shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Grab the long thin bottle, move it without crossing the shampoo bottle with white cap, then place the long thin bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the curved light blue shampoo bottle, and place the long thin bottle upright.",
+    "Use the left arm, raise the smooth bottle with red lid, keep distance from the blue shampoo bottle slender design, then place the smooth bottle with red lid upright.",
+    "Take the brown bottle with red label, keep clear of the small smooth shampoo bottle, and place the brown bottle with red label upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle with white cap, then set the hand-sized soda bottle upright.",
+    "Move the smooth bottle with red lid away from the bottle light blue rounded shape as you lift, then place the smooth bottle with red lid upright.",
+    "Pick up the narrow-necked bottle, route it around the hand-sized shampoo bottle, then stand the narrow-necked bottle upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the shampoo bottle flat bottom edge, and set the smooth bottle with red lid upright.",
+    "Move the medium dark brown bottle from its spot, skirt the blue shampoo bottle slender design, and stand the medium dark brown bottle upright.",
+    "Lift the brown bottle with red label, guide it around the shampoo bottle tapered toward cap, then stand the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top up, skirt the hand-sized shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the blue shampoo bottle slender design while moving, and set the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the shampoo bottle with matte plastic, and place the bottle with white neck and red top upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the shampoo bottle with matte plastic, and place the red-capped bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the shampoo bottle flat bottom edge, and place the Coca-Cola bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the shampoo bottle flat bottom edge, then place the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle, route it away from the blue shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the light blue shampoo bottle small size, and stand the smooth bottle with red lid up.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the hand-sized shampoo bottle, then set the smooth bottle with red lid upright.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the curved light blue shampoo bottle, and put the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, carry it around the light blue shampoo bottle small size, then stand the dark drink bottle with logo upright.",
+    "Grab the dark drink bottle with logo, keep it away from the small smooth shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "Take the plastic drink bottle, move it without nearing the blue shampoo bottle, and stand the plastic drink bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode10.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..81daedfbae9b4e4ed0e9ca7daaf044c50a06923c
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the oval-shaped shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the medium shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the hand-sized shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the hand-sized shampoo bottle, place the red-capped bottle upright.",
+    "Lift the Coca-Cola bottle, route its path away from the smooth white shampoo dispenser, then set the Coca-Cola bottle upright.",
+    "Take the bottle with white neck and red top up, skirt the medium shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Pick the red-capped bottle up, keep its path clear of the hand-sized shampoo bottle, place the red-capped bottle upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the glossy white shampoo bottle, then place the red-capped bottle upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the hand-sized shampoo bottle, set the bottle with ridges on bottom upright.",
+    "Take the long thin bottle, move it without nearing the medium oval plastic shampoo container, and stand the long thin bottle upright.",
+    "With the left arm, take the plastic drink bottle, avoid the white shampoo bottle while moving, and set the plastic drink bottle upright.",
+    "Lift the plastic drink bottle, route it around the smooth white shampoo dispenser, then set the plastic drink bottle upright.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the medium oval plastic shampoo container, and put the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, avoid the glossy white shampoo bottle while moving, then place the long thin bottle upright.",
+    "Pick up the brown bottle with red label, swing wide around the plastic shampoo container, and set the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top, route it away from the medium oval plastic shampoo container, and place the bottle with white neck and red top upright.",
+    "Pick up the bottle with white neck and red top, route it around the shampoo bottle with pink cap, then stand the bottle with white neck and red top upright.",
+    "Lift the red-capped bottle, keep its path away from the white body pink flip cap bottle, and set the red-capped bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the oval-shaped shampoo bottle en route, and stand the hand-sized soda bottle up.",
+    "Using the left arm, lift the plastic drink bottle, keep clear of the shampoo bottle with pink cap, and place the plastic drink bottle upright.",
+    "Lift the smooth bottle with red lid, guide it around the white body pink flip cap bottle, then stand the smooth bottle with red lid upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the glossy white shampoo bottle, place the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the oval-shaped shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Using the left arm, grasp the bottle with white neck and red top, move it past the shampoo dispenser with flat base, then stand the bottle with white neck and red top up.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the oval-shaped shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Move the plastic drink bottle away from the smooth white shampoo dispenser as you lift, then place the plastic drink bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the smooth white shampoo dispenser, place the red-capped bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the white body pink flip cap bottle, then set the long thin bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the glossy white shampoo bottle, and stand the plastic drink bottle upright.",
+    "Have the left arm grasp the red-capped bottle, avoid the oval-shaped shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the glossy white shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Take the Coca-Cola bottle, keep clear of the shampoo dispenser with flat base, and place the Coca-Cola bottle upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the glossy white shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the medium oval plastic shampoo container, and place the bottle with white neck and red top upright.",
+    "Move the narrow-necked bottle from its spot, skirt the pink-topped shampoo bottle, and stand the narrow-necked bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the white body pink flip cap bottle, and put the smooth bottle with red lid upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the smooth white shampoo dispenser, and place the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, keep it from the plastic shampoo container, and set the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the oval-shaped shampoo bottle, and put the narrow-necked bottle down upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the smooth white shampoo dispenser, and stand the bottle with white neck and red top up.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the medium shampoo bottle, then place the plastic drink bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the hand-sized shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the medium oval plastic shampoo container, then place the Coca-Cola bottle upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the medium oval plastic shampoo container, place the smooth bottle with red lid upright.",
+    "Lift the long thin bottle, route its path away from the medium oval plastic shampoo container, then set the long thin bottle upright.",
+    "Take the long thin bottle up, skirt the smooth white shampoo dispenser, and put the long thin bottle down upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the medium shampoo bottle, place the plastic drink bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the glossy white shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the medium oval plastic shampoo container, set the smooth bottle with red lid upright.",
+    "Take the plastic drink bottle, move it without nearing the medium oval plastic shampoo container, and stand the plastic drink bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the white shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "Lift the smooth bottle with red lid, route it around the plastic shampoo container, then set the smooth bottle with red lid upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the pink-topped shampoo bottle, and put the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the white body pink flip cap bottle while moving, then place the smooth bottle with red lid upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the oval-shaped shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Take the hand-sized soda bottle, route it away from the smooth white shampoo dispenser, and place the hand-sized soda bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the shampoo bottle with pink cap, then stand the smooth bottle with red lid upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the plastic shampoo container, and set the bottle with ridges on bottom upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the hand-sized shampoo bottle en route, and stand the dark drink bottle with logo up.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the shampoo bottle with pink cap, and place the Coca-Cola bottle upright.",
+    "Lift the Coca-Cola bottle, guide it around the white body pink flip cap bottle, then stand the Coca-Cola bottle upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the medium oval plastic shampoo container, place the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, carry it around the oval-shaped shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the shampoo dispenser with flat base, then stand the red-capped bottle up.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the white shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Move the narrow-necked bottle away from the glossy white shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the white shampoo bottle, place the hand-sized soda bottle upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the pink-topped shampoo bottle, then set the narrow-necked bottle upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the pink-topped shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Have the left arm grasp the Coca-Cola bottle, avoid the medium shampoo bottle while moving, and set the Coca-Cola bottle upright.",
+    "Grab the plastic drink bottle, steer it around the white shampoo bottle, and place the plastic drink bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the medium oval plastic shampoo container, and place the hand-sized soda bottle upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the oval-shaped shampoo bottle, and place the narrow-necked bottle upright.",
+    "Guide the left arm to take the smooth bottle with red lid, bypass the medium oval plastic shampoo container, and place the smooth bottle with red lid upright.",
+    "Move the brown bottle with red label from its spot, skirt the shampoo bottle with pink cap, and stand the brown bottle with red label upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the medium oval plastic shampoo container, and put the brown bottle with red label upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the medium shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, keep it from the oval-shaped shampoo bottle, and set the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, keep it away from the white body pink flip cap bottle, and put the smooth bottle with red lid down upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the white body pink flip cap bottle, and stand the long thin bottle up.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the white shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the shampoo bottle with pink cap, then set the smooth bottle with red lid upright.",
+    "Grab the long thin bottle, move it without crossing the medium oval plastic shampoo container, then place the long thin bottle upright.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the medium oval plastic shampoo container, place the red-capped bottle upright.",
+    "Lift the smooth bottle with red lid, route its path away from the glossy white shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Take the red-capped bottle up, skirt the medium shampoo bottle, and put the red-capped bottle down upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the hand-sized shampoo bottle, place the medium dark brown bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, pass clear of the medium shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the plastic shampoo container, set the brown bottle with red label upright.",
+    "Take the narrow-necked bottle, move it without nearing the pink-topped shampoo bottle, and stand the narrow-necked bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the plastic shampoo container while moving, and set the hand-sized soda bottle upright.",
+    "Lift the brown bottle with red label, route it around the plastic shampoo container, then set the brown bottle with red label upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the hand-sized shampoo bottle, and put the red-capped bottle upright.",
+    "Grab the red-capped bottle, avoid the glossy white shampoo bottle while moving, then place the red-capped bottle upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the hand-sized shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Take the medium dark brown bottle, route it away from the white body pink flip cap bottle, and place the medium dark brown bottle upright.",
+    "Pick up the brown bottle with red label, route it around the shampoo bottle with pink cap, then stand the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the shampoo dispenser with flat base, and set the bottle with white neck and red top upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the shampoo dispenser with flat base en route, and stand the narrow-necked bottle up.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the hand-sized shampoo bottle, and place the Coca-Cola bottle upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode11.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..85b09228342fca54f63595c9f2fca617bda53b02
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the medium dark brown bottle, steer away from the yellow shampoo with cartoon design, and stand the medium dark brown bottle up.",
+    "Use the right arm to pick the medium dark brown bottle up, avoid the smooth bottle with green top, and place the medium dark brown bottle upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the shampoo bottle with handle slot while moving, and set the medium dark brown bottle upright.",
+    "Direct the right arm to pick the smooth bottle with red lid up, avoid the medium shampoo bottle with pump, and stand the smooth bottle with red lid upright.",
+    "With the right arm, take the hand-sized soda bottle up, steer past the smooth bottle with green top, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the smooth bottle with green top, and place the brown bottle with red label upright.",
+    "Use the right arm to grab the Coca-Cola bottle, carry it away from the yellow bottle with green top, set the Coca-Cola bottle upright.",
+    "Take the red-capped bottle up, skirt the hand-sized yellow shampoo bottle, and put the red-capped bottle down upright.",
+    "Using the right arm, pick the Coca-Cola bottle up, keep clear of the bottle with cartoon label, place the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, steer it around the shampoo bottle with handle slot, and place the hand-sized soda bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the shampoo bottle with rounded body, and set the hand-sized soda bottle upright.",
+    "Using the right arm, grasp the red-capped bottle, move it past the shampoo with green dispensing pump, then stand the red-capped bottle up.",
+    "Take the brown bottle with red label, keep clear of the yellow shampoo bottle, and place the brown bottle with red label upright.",
+    "Move the plastic drink bottle from its spot, skirt the shampoo bottle with handle slot, and stand the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, carry it around the smooth bottle with green top, then stand the plastic drink bottle upright.",
+    "Lift the long thin bottle, route it around the plastic shampoo bottle with label, then set the long thin bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the yellow bottle with green top, then place the brown bottle with red label upright.",
+    "Pick up the narrow-necked bottle, route it around the bottle with cartoon label, then stand the narrow-necked bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the shampoo with green dispensing pump while moving, and set the long thin bottle upright.",
+    "Move the hand-sized soda bottle away from the hand-sized yellow shampoo bottle as you lift, then place the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the yellow container with green pump, then set the red-capped bottle upright.",
+    "Grip the Coca-Cola bottle with the right arm, keep distance from the shampoo with green dispensing pump, then set the Coca-Cola bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the hand-sized yellow shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Take the Coca-Cola bottle, move it without nearing the shampoo with green dispensing pump, and stand the Coca-Cola bottle upright.",
+    "With the right arm, secure the hand-sized soda bottle, pass around the yellow shampoo bottle, and set the hand-sized soda bottle upright.",
+    "With the right arm, take the brown bottle with red label, pass outside the yellow shampoo bottle, and put the brown bottle with red label upright.",
+    "With the right arm, lift the hand-sized soda bottle, keep it away from the yellow bottle with green top, place the hand-sized soda bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the yellow bottle with green top, then set the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the hand-sized yellow shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "Lift the dark drink bottle with logo, guide it around the hand-sized yellow shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Pick up the bottle with ridges on bottom with the right arm, keep it away from the yellow container with green pump, place the bottle with ridges on bottom upright.",
+    "Lift the plastic drink bottle, keep its path away from the medium shampoo bottle with pump, and set the plastic drink bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the hand-sized yellow shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the Coca-Cola bottle, pass clear of the yellow bottle with green top, then place the Coca-Cola bottle upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the shampoo bottle with handle slot, then place the Coca-Cola bottle upright.",
+    "Take the narrow-necked bottle, route it away from the yellow shampoo bottle, and place the narrow-necked bottle upright.",
+    "Use the right arm to lift the smooth bottle with red lid, avoid the shampoo bottle with handle slot en route, and stand the smooth bottle with red lid up.",
+    "Pick the narrow-necked bottle up, keep its path clear of the shampoo bottle with rounded body, place the narrow-necked bottle upright.",
+    "With the right arm, pick the smooth bottle with red lid up, avoid the plastic shampoo bottle with label, and put the smooth bottle with red lid upright.",
+    "Guide the right arm to take the Coca-Cola bottle, bypass the shampoo bottle with rounded body, and place the Coca-Cola bottle upright.",
+    "With the right arm, pick up the plastic drink bottle, steer away from the smooth bottle with green top, and stand the plastic drink bottle up.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the yellow shampoo bottle, and place the dark drink bottle with logo upright.",
+    "With the right arm, take the bottle with white neck and red top, avoid the yellow shampoo bottle while moving, and set the bottle with white neck and red top upright.",
+    "Direct the right arm to pick the smooth bottle with red lid up, avoid the shampoo bottle with handle slot, and stand the smooth bottle with red lid upright.",
+    "With the right arm, take the medium dark brown bottle up, steer past the yellow shampoo bottle, and place the medium dark brown bottle upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, keep clear of the shampoo bottle with handle slot, and place the bottle with ridges on bottom upright.",
+    "Use the right arm to grab the medium dark brown bottle, carry it away from the yellow container with green pump, set the medium dark brown bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the plastic shampoo bottle with label, and put the hand-sized soda bottle down upright.",
+    "Using the right arm, pick the brown bottle with red label up, keep clear of the bottle with cartoon label, place the brown bottle with red label upright.",
+    "Grab the medium dark brown bottle, steer it around the smooth bottle with green top, and place the medium dark brown bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the yellow shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Using the right arm, grasp the bottle with white neck and red top, move it past the shampoo with green dispensing pump, then stand the bottle with white neck and red top up.",
+    "Take the medium dark brown bottle, keep clear of the plastic shampoo bottle with label, and place the medium dark brown bottle upright.",
+    "Move the long thin bottle from its spot, skirt the shampoo with green dispensing pump, and stand the long thin bottle upright.",
+    "Grab the brown bottle with red label, carry it around the yellow shampoo bottle, then stand the brown bottle with red label upright.",
+    "Lift the hand-sized soda bottle, route it around the shampoo bottle with handle slot, then set the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, move it without crossing the medium shampoo bottle with pump, then place the long thin bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the smooth bottle with green top, then stand the hand-sized soda bottle upright.",
+    "Have the right arm grasp the dark drink bottle with logo, avoid the smooth bottle with green top while moving, and set the dark drink bottle with logo upright.",
+    "Move the medium dark brown bottle away from the medium shampoo bottle with pump as you lift, then place the medium dark brown bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the yellow shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Grip the red-capped bottle with the right arm, keep distance from the hand-sized yellow shampoo bottle, then set the red-capped bottle upright.",
+    "Grab the narrow-necked bottle, keep it from the shampoo with green dispensing pump, and set the narrow-necked bottle upright.",
+    "Take the medium dark brown bottle, move it without nearing the bottle with cartoon label, and stand the medium dark brown bottle upright.",
+    "With the right arm, secure the smooth bottle with red lid, pass around the yellow shampoo bottle, and set the smooth bottle with red lid upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the yellow shampoo with cartoon design, and put the bottle with white neck and red top upright.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the smooth bottle with green top, place the dark drink bottle with logo upright.",
+    "Lift the plastic drink bottle, route its path away from the yellow shampoo bottle, then set the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the shampoo bottle with rounded body, and put the medium dark brown bottle down upright.",
+    "Lift the red-capped bottle, guide it around the shampoo bottle with handle slot, then stand the red-capped bottle upright.",
+    "Pick up the bottle with white neck and red top with the right arm, keep it away from the shampoo bottle with rounded body, place the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, keep its path away from the yellow container with green pump, and set the narrow-necked bottle upright.",
+    "Grab the Coca-Cola bottle, avoid the shampoo with green dispensing pump while moving, then place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the hand-sized soda bottle, pass clear of the hand-sized yellow shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Use the right arm, raise the narrow-necked bottle, keep distance from the shampoo bottle with handle slot, then place the narrow-necked bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the shampoo with green dispensing pump, and place the Coca-Cola bottle upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the hand-sized yellow shampoo bottle en route, and stand the red-capped bottle up.",
+    "Pick the narrow-necked bottle up, keep its path clear of the yellow shampoo bottle, place the narrow-necked bottle upright.",
+    "With the right arm, pick the smooth bottle with red lid up, avoid the yellow bottle with green top, and put the smooth bottle with red lid upright.",
+    "Guide the right arm to take the medium dark brown bottle, bypass the shampoo bottle with rounded body, and place the medium dark brown bottle upright.",
+    "With the right arm, pick up the brown bottle with red label, steer away from the shampoo with green dispensing pump, and stand the brown bottle with red label up.",
+    "Use the right arm to pick the plastic drink bottle up, avoid the plastic shampoo bottle with label, and place the plastic drink bottle upright.",
+    "With the right arm, take the smooth bottle with red lid, avoid the yellow shampoo with cartoon design while moving, and set the smooth bottle with red lid upright.",
+    "Direct the right arm to pick the smooth bottle with red lid up, avoid the shampoo with green dispensing pump, and stand the smooth bottle with red lid upright.",
+    "With the right arm, take the hand-sized soda bottle up, steer past the shampoo with green dispensing pump, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the hand-sized soda bottle, keep clear of the yellow container with green pump, and place the hand-sized soda bottle upright.",
+    "Use the right arm to grab the smooth bottle with red lid, carry it away from the yellow bottle with green top, set the smooth bottle with red lid upright.",
+    "Take the red-capped bottle up, skirt the shampoo bottle with rounded body, and put the red-capped bottle down upright.",
+    "Using the right arm, pick the hand-sized soda bottle up, keep clear of the shampoo bottle with handle slot, place the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, steer it around the hand-sized yellow shampoo bottle, and place the brown bottle with red label upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the plastic shampoo bottle with label, and set the bottle with ridges on bottom upright.",
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the yellow shampoo with cartoon design, then stand the Coca-Cola bottle up.",
+    "Take the narrow-necked bottle, keep clear of the shampoo bottle with handle slot, and place the narrow-necked bottle upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the yellow bottle with green top, and stand the smooth bottle with red lid upright.",
+    "Grab the narrow-necked bottle, carry it around the smooth bottle with green top, then stand the narrow-necked bottle upright.",
+    "Lift the plastic drink bottle, route it around the yellow container with green pump, then set the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the smooth bottle with green top, then place the bottle with white neck and red top upright.",
+    "Pick up the dark drink bottle with logo, route it around the yellow container with green pump, then stand the dark drink bottle with logo upright.",
+    "Have the right arm grasp the dark drink bottle with logo, avoid the medium shampoo bottle with pump while moving, and set the dark drink bottle with logo upright.",
+    "Move the brown bottle with red label away from the plastic shampoo bottle with label as you lift, then place the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode12.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..93386d95310a843adfb58e97328ec5b5400c87fb
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Guide the left arm to take the smooth green bottle, bypass the medium shampoo container, and place the smooth green bottle upright.",
+    "Using the left arm, pick the medium-sized green bottle up, keep clear of the shampoo bottle with rectangular base, place the medium-sized green bottle upright.",
+    "Use the left arm to lift the plastic bottle, avoid the plastic shampoo bottle with smooth surface en route, and stand the plastic bottle up.",
+    "Pick the bottle with white printed label up, keep its path clear of the white bottle with golden accents, place the bottle with white printed label upright.",
+    "Lift the green bottle with indented base, keep its path clear of the white bottle with golden accents, then set the green bottle with indented base upright.",
+    "Move the bottle with rounded neck away from the bottle with yellow cap as you lift, then place the bottle with rounded neck upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the smooth shampoo container, set the bottle with white printed label upright.",
+    "With the left arm, take the medium-sized green bottle, avoid the plastic shampoo bottle with smooth surface while moving, and set the medium-sized green bottle upright.",
+    "Use the left arm, raise the medium green bottle with capped neck, keep distance from the plastic shampoo bottle with smooth surface, then place the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top, move it without nearing the white shampoo bottle with golden top, and stand the bottle with narrow top upright.",
+    "Grab the plastic bottle, avoid the medium shampoo container while moving, then place the plastic bottle upright.",
+    "With the left arm, take the medium-sized green bottle, pass outside the smooth shampoo container, and put the medium-sized green bottle upright.",
+    "Lift the smooth green bottle, keep its path away from the shampoo bottle with rectangular base, and set the smooth green bottle upright.",
+    "Grab the smooth green bottle, keep it away from the shampoo bottle, and put the smooth green bottle down upright.",
+    "Direct the left arm to pick the handheld green bottle up, avoid the white shampoo bottle with golden top, and stand the handheld green bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the bottle with yellow cap, then stand the smooth green plastic bottle upright.",
+    "With the left arm, lift the handheld green bottle, keep it away from the medium shampoo container, place the handheld green bottle upright.",
+    "Pick up the green bottle with indented base, route it around the hand-held shampoo bottle, then stand the green bottle with indented base upright.",
+    "Grab the medium green bottle with capped neck, steer it around the rectangular shampoo bottle with rounded top, and place the medium green bottle with capped neck upright.",
+    "Using the left arm, grasp the smooth green bottle, move it past the white bottle with golden accents, then stand the smooth green bottle up.",
+    "Move the handheld green bottle from its spot, skirt the bottle with yellow cap, and stand the handheld green bottle upright.",
+    "Using the left arm, lift the handheld green bottle, pass clear of the medium shampoo container, then place the handheld green bottle upright.",
+    "With the left arm, pick up the medium green bottle, steer away from the medium shampoo container, and stand the medium green bottle up.",
+    "Lift the medium green bottle, route its path away from the plastic shampoo bottle with smooth surface, then set the medium green bottle upright.",
+    "Grab the bottle with white printed label, move it without crossing the rectangular shampoo bottle with rounded top, then place the bottle with white printed label upright.",
+    "Use the left arm to pick the green bottle with indented base up, avoid the plastic shampoo bottle with smooth surface, and place the green bottle with indented base upright.",
+    "With the left arm, secure the smooth green bottle, pass around the bottle with yellow cap, and set the smooth green bottle upright.",
+    "Take the medium-sized green bottle, keep clear of the white shampoo bottle with golden top, and place the medium-sized green bottle upright.",
+    "Using the left arm, lift the medium green bottle, keep clear of the white shampoo bottle with golden top, and place the medium green bottle upright.",
+    "Pick up the smooth green plastic bottle, swing wide around the plastic shampoo bottle with smooth surface, and set the smooth green plastic bottle upright.",
+    "Lift the bottle with ridges near base, route it around the rectangular shampoo bottle with rounded top, then set the bottle with ridges near base upright.",
+    "Grab the bottle with white printed label, keep it from the bottle with yellow cap, and set the bottle with white printed label upright.",
+    "Grip the medium-sized green bottle with the left arm, keep distance from the bottle for shampoo with glossy finish, then set the medium-sized green bottle upright.",
+    "Pick up the green bottle with indented base with the left arm, keep it away from the medium shampoo container, place the green bottle with indented base upright.",
+    "Have the left arm grasp the bottle with rounded neck, avoid the white shampoo bottle with golden top while moving, and set the bottle with rounded neck upright.",
+    "With the left arm, take the plastic bottle up, steer past the medium shampoo container, and place the plastic bottle upright.",
+    "With the left arm, pick the green bottle with indented base up, avoid the smooth shampoo container, and put the green bottle with indented base upright.",
+    "Lift the smooth green bottle, guide it around the plastic shampoo bottle with smooth surface, then stand the smooth green bottle upright.",
+    "Take the plastic bottle, route it away from the white shampoo bottle with golden top, and place the plastic bottle upright.",
+    "Take the bottle with narrow top up, skirt the bottle with yellow cap, and put the bottle with narrow top down upright.",
+    "Guide the left arm to take the medium green bottle, bypass the white bottle with golden accents, and place the medium green bottle upright.",
+    "Using the left arm, pick the bottle with narrow top up, keep clear of the white shampoo bottle, place the bottle with narrow top upright.",
+    "Use the left arm to lift the medium green bottle with capped neck, avoid the plastic shampoo bottle with smooth surface en route, and stand the medium green bottle with capped neck up.",
+    "Pick the medium green bottle with capped neck up, keep its path clear of the smooth shampoo container, place the medium green bottle with capped neck upright.",
+    "Lift the medium green bottle, keep its path clear of the hand-held shampoo bottle, then set the medium green bottle upright.",
+    "Move the medium green bottle away from the medium shampoo container as you lift, then place the medium green bottle upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the bottle for shampoo with glossy finish, set the bottle with white printed label upright.",
+    "With the left arm, take the smooth green bottle, avoid the shampoo bottle while moving, and set the smooth green bottle upright.",
+    "Use the left arm, raise the handheld green bottle, keep distance from the smooth shampoo container, then place the handheld green bottle upright.",
+    "Take the bottle with narrow top, move it without nearing the smooth shampoo container, and stand the bottle with narrow top upright.",
+    "Grab the bottle with ridges near base, avoid the medium shampoo container while moving, then place the bottle with ridges near base upright.",
+    "With the left arm, take the bottle with white printed label, pass outside the bottle for shampoo with glossy finish, and put the bottle with white printed label upright.",
+    "Lift the medium-sized green bottle, keep its path away from the medium shampoo container, and set the medium-sized green bottle upright.",
+    "Grab the bottle with ridges near base, keep it away from the white shampoo bottle, and put the bottle with ridges near base down upright.",
+    "Direct the left arm to pick the plastic bottle up, avoid the shampoo bottle with rectangular base, and stand the plastic bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the shampoo bottle, then stand the smooth green plastic bottle upright.",
+    "With the left arm, lift the green bottle with indented base, keep it away from the bottle with yellow cap, place the green bottle with indented base upright.",
+    "Pick up the bottle with white printed label, route it around the hand-held shampoo bottle, then stand the bottle with white printed label upright.",
+    "Grab the handheld green bottle, steer it around the hand-held shampoo bottle, and place the handheld green bottle upright.",
+    "Using the left arm, grasp the bottle with rounded neck, move it past the hand-held shampoo bottle, then stand the bottle with rounded neck up.",
+    "Move the plastic bottle from its spot, skirt the rectangular shampoo bottle with rounded top, and stand the plastic bottle upright.",
+    "Using the left arm, lift the smooth green bottle, pass clear of the white shampoo bottle with golden top, then place the smooth green bottle upright.",
+    "With the left arm, pick up the bottle with white printed label, steer away from the plastic shampoo bottle with smooth surface, and stand the bottle with white printed label up.",
+    "Lift the bottle with white printed label, route its path away from the medium shampoo container, then set the bottle with white printed label upright.",
+    "Grab the bottle with white printed label, move it without crossing the shampoo bottle, then place the bottle with white printed label upright.",
+    "Use the left arm to pick the smooth green bottle up, avoid the white shampoo bottle with golden top, and place the smooth green bottle upright.",
+    "With the left arm, secure the bottle with white printed label, pass around the bottle with yellow cap, and set the bottle with white printed label upright.",
+    "Take the bottle with rounded neck, keep clear of the shampoo bottle, and place the bottle with rounded neck upright.",
+    "Using the left arm, lift the smooth green plastic bottle, keep clear of the plastic shampoo bottle with smooth surface, and place the smooth green plastic bottle upright.",
+    "Pick up the smooth green plastic bottle, swing wide around the medium shampoo container, and set the smooth green plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, route it around the smooth shampoo container, then set the medium green bottle with capped neck upright.",
+    "Grab the medium-sized green bottle, keep it from the bottle for shampoo with glossy finish, and set the medium-sized green bottle upright.",
+    "Grip the medium-sized green bottle with the left arm, keep distance from the hand-held shampoo bottle, then set the medium-sized green bottle upright.",
+    "Pick up the medium-sized green bottle with the left arm, keep it away from the rectangular shampoo bottle with rounded top, place the medium-sized green bottle upright.",
+    "Have the left arm grasp the handheld green bottle, avoid the white bottle with golden accents while moving, and set the handheld green bottle upright.",
+    "With the left arm, take the green bottle with indented base up, steer past the white shampoo bottle, and place the green bottle with indented base upright.",
+    "With the left arm, pick the medium-sized green bottle up, avoid the bottle for shampoo with glossy finish, and put the medium-sized green bottle upright.",
+    "Lift the bottle with ridges near base, guide it around the white shampoo bottle, then stand the bottle with ridges near base upright.",
+    "Take the medium green bottle, route it away from the smooth shampoo container, and place the medium green bottle upright.",
+    "Take the plastic bottle up, skirt the bottle for shampoo with glossy finish, and put the plastic bottle down upright.",
+    "Guide the left arm to take the bottle with narrow top, bypass the rectangular shampoo bottle with rounded top, and place the bottle with narrow top upright.",
+    "Using the left arm, pick the medium green bottle up, keep clear of the plastic shampoo bottle with smooth surface, place the medium green bottle upright.",
+    "Use the left arm to lift the handheld green bottle, avoid the bottle for shampoo with glossy finish en route, and stand the handheld green bottle up.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the white bottle with golden accents, place the smooth green plastic bottle upright.",
+    "Lift the green bottle with indented base, keep its path clear of the shampoo bottle, then set the green bottle with indented base upright.",
+    "Move the bottle with white printed label away from the white shampoo bottle as you lift, then place the bottle with white printed label upright.",
+    "Use the left arm to grab the smooth green bottle, carry it away from the shampoo bottle with rectangular base, set the smooth green bottle upright.",
+    "With the left arm, take the medium green bottle with capped neck, avoid the smooth shampoo container while moving, and set the medium green bottle with capped neck upright.",
+    "Use the left arm, raise the medium green bottle, keep distance from the rectangular shampoo bottle with rounded top, then place the medium green bottle upright.",
+    "Take the bottle with ridges near base, move it without nearing the medium shampoo container, and stand the bottle with ridges near base upright.",
+    "Grab the smooth green plastic bottle, avoid the medium shampoo container while moving, then place the smooth green plastic bottle upright.",
+    "With the left arm, take the plastic bottle, pass outside the shampoo bottle, and put the plastic bottle upright.",
+    "Lift the bottle with white printed label, keep its path away from the white bottle with golden accents, and set the bottle with white printed label upright.",
+    "Grab the plastic bottle, keep it away from the bottle with yellow cap, and put the plastic bottle down upright.",
+    "Direct the left arm to pick the medium green bottle up, avoid the shampoo bottle, and stand the medium green bottle upright.",
+    "Grab the bottle with white printed label, carry it around the white bottle with golden accents, then stand the bottle with white printed label upright.",
+    "With the left arm, lift the plastic bottle, keep it away from the bottle for shampoo with glossy finish, place the plastic bottle upright.",
+    "Pick up the green bottle with indented base, route it around the rectangular shampoo bottle with rounded top, then stand the green bottle with indented base upright.",
+    "Grab the green bottle with indented base, steer it around the white bottle with golden accents, and place the green bottle with indented base upright.",
+    "Using the left arm, grasp the handheld green bottle, move it past the hand-held shampoo bottle, then stand the handheld green bottle up."
+  ],
+  "unseen": [
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white plastic shampoo bottle, and place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the white plastic shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white plastic shampoo bottle, and place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode13.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..45c2f099286590be96c150eb4ec68ff9739afdb2
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the smooth pink plastic shampoo bottle, then stand the hand-sized soda bottle up.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the rectangular pink bottle with dispenser, and put the smooth bottle with red lid upright.",
+    "Pick up the plastic drink bottle, swing wide around the rectangular pink shampoo container, and set the plastic drink bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the rectangular pink bottle with dispenser, then stand the medium dark brown bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the medium pink bottle for shampoo, then place the bottle with white neck and red top upright.",
+    "Grab the narrow-necked bottle, keep it away from the pink shampoo container with pump top, and put the narrow-necked bottle down upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the pink bottle with narrow top en route, and stand the Coca-Cola bottle up.",
+    "Take the Coca-Cola bottle, route it away from the rectangular pink shampoo container, and place the Coca-Cola bottle upright.",
+    "Pick up the narrow-necked bottle with the left arm, keep it away from the rectangular pink shampoo container, place the narrow-necked bottle upright.",
+    "Take the plastic drink bottle up, skirt the hand-sized pink shampoo container, and put the plastic drink bottle down upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the shampoo bottle with rectangular shape, place the Coca-Cola bottle upright.",
+    "Lift the brown bottle with red label, route it around the medium pink bottle for shampoo, then set the brown bottle with red label upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the smooth pink plastic shampoo bottle, place the Coca-Cola bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the medium pink bottle for shampoo, then set the narrow-necked bottle upright.",
+    "Direct the left arm to pick the smooth bottle with red lid up, avoid the smooth pink plastic shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Use the left arm, raise the brown bottle with red label, keep distance from the pink shampoo bottle, then place the brown bottle with red label upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the hand-sized pink shampoo container, then set the smooth bottle with red lid upright.",
+    "Move the plastic drink bottle from its spot, skirt the shampoo bottle with rectangular shape, and stand the plastic drink bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the pink shampoo container with pump top, and put the dark drink bottle with logo upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the rectangular pink bottle with dispenser, and stand the bottle with white neck and red top up.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the pink shampoo bottle, and place the medium dark brown bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the pink bottle with black dispenser, and place the brown bottle with red label upright.",
+    "Use the left arm to grab the dark drink bottle with logo, carry it away from the shampoo bottle with shiny pink body, set the dark drink bottle with logo upright.",
+    "Move the medium dark brown bottle away from the shampoo bottle with shiny pink body as you lift, then place the medium dark brown bottle upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the hand-sized pink shampoo container, and place the dark drink bottle with logo upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the rectangular pink shampoo container, and stand the bottle with ridges on bottom upright.",
+    "Take the narrow-necked bottle, keep clear of the medium pink bottle for shampoo, and place the narrow-necked bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the pink shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Use the left arm to pick the bottle with ridges on bottom up, avoid the plastic shampoo bottle with black pump, and place the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the pink shampoo bottle, place the smooth bottle with red lid upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the smooth pink plastic shampoo bottle, then set the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, keep it from the hand-sized pink shampoo container, and set the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the rectangular pink bottle with dispenser while moving, then place the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, steer it around the rectangular pink shampoo container, and place the long thin bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the plastic shampoo bottle with black pump, then stand the bottle with white neck and red top upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the shampoo bottle with shiny pink body, and set the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the hand-sized pink shampoo container, then place the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, carry it around the medium pink bottle for shampoo, then stand the Coca-Cola bottle upright.",
+    "Lift the brown bottle with red label, keep its path away from the rectangular pink shampoo container, and set the brown bottle with red label upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the smooth pink plastic shampoo bottle while moving, and set the medium dark brown bottle upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the pink bottle with narrow top, then stand the bottle with ridges on bottom up.",
+    "With the left arm, take the red-capped bottle, pass outside the medium pink bottle for shampoo, and put the red-capped bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the shampoo bottle with shiny pink body, and set the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the rectangular pink bottle with dispenser, then stand the bottle with white neck and red top upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the pink bottle with black dispenser, then place the dark drink bottle with logo upright.",
+    "Grab the hand-sized soda bottle, keep it away from the rectangular pink shampoo container, and put the hand-sized soda bottle down upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the pink shampoo bottle en route, and stand the bottle with ridges on bottom up.",
+    "Take the long thin bottle, route it away from the smooth pink plastic shampoo bottle, and place the long thin bottle upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the rectangular pink bottle with dispenser, place the smooth bottle with red lid upright.",
+    "Take the long thin bottle up, skirt the hand-sized pink shampoo container, and put the long thin bottle down upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the plastic shampoo bottle with black pump, place the narrow-necked bottle upright.",
+    "Lift the plastic drink bottle, route it around the smooth pink plastic shampoo bottle, then set the plastic drink bottle upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the pink bottle with black dispenser, place the smooth bottle with red lid upright.",
+    "Lift the red-capped bottle, route its path away from the shampoo bottle with shiny pink body, then set the red-capped bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the hand-sized pink shampoo container, and stand the bottle with ridges on bottom upright.",
+    "Use the left arm, raise the red-capped bottle, keep distance from the rectangular pink bottle with dispenser, then place the red-capped bottle upright.",
+    "Grip the brown bottle with red label with the left arm, keep distance from the rectangular pink shampoo container, then set the brown bottle with red label upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the pink shampoo container with pump top, and stand the hand-sized soda bottle upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the plastic shampoo bottle with black pump, and put the brown bottle with red label upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the pink bottle with narrow top, and stand the brown bottle with red label up.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the plastic shampoo bottle with black pump, and place the narrow-necked bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, keep clear of the pink bottle with black dispenser, and place the plastic drink bottle upright.",
+    "Use the left arm to grab the medium dark brown bottle, carry it away from the plastic shampoo bottle with black pump, set the medium dark brown bottle upright.",
+    "Move the bottle with white neck and red top away from the pink bottle with narrow top as you lift, then place the bottle with white neck and red top upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the medium pink bottle for shampoo, and place the bottle with ridges on bottom upright.",
+    "Take the long thin bottle, move it without nearing the pink shampoo container with pump top, and stand the long thin bottle upright.",
+    "Take the brown bottle with red label, keep clear of the pink shampoo container with pump top, and place the brown bottle with red label upright.",
+    "With the left arm, take the brown bottle with red label, avoid the plastic shampoo bottle with black pump while moving, and set the brown bottle with red label upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the plastic shampoo bottle with black pump, and place the bottle with white neck and red top upright.",
+    "Using the left arm, pick the bottle with ridges on bottom up, keep clear of the hand-sized pink shampoo container, place the bottle with ridges on bottom upright.",
+    "Lift the brown bottle with red label, keep its path clear of the smooth pink plastic shampoo bottle, then set the brown bottle with red label upright.",
+    "Grab the red-capped bottle, keep it from the pink bottle with narrow top, and set the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the smooth pink plastic shampoo bottle while moving, then place the smooth bottle with red lid upright.",
+    "Grab the hand-sized soda bottle, steer it around the pink shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the pink shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the smooth pink plastic shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the shampoo bottle with rectangular shape, then place the dark drink bottle with logo upright.",
+    "Grab the hand-sized soda bottle, carry it around the rectangular pink bottle with dispenser, then stand the hand-sized soda bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the pink bottle with black dispenser, and set the smooth bottle with red lid upright.",
+    "Have the left arm grasp the bottle with ridges on bottom, avoid the rectangular pink bottle with dispenser while moving, and set the bottle with ridges on bottom upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the pink bottle with black dispenser, then stand the medium dark brown bottle up.",
+    "With the left arm, take the narrow-necked bottle, pass outside the rectangular pink bottle with dispenser, and put the narrow-necked bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the rectangular pink shampoo container, and set the bottle with white neck and red top upright.",
+    "Lift the hand-sized soda bottle, guide it around the shampoo bottle with shiny pink body, then stand the hand-sized soda bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, pass clear of the shampoo bottle with shiny pink body, then place the Coca-Cola bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle with shiny pink body, and put the dark drink bottle with logo down upright.",
+    "Use the left arm to lift the plastic drink bottle, avoid the medium pink bottle for shampoo en route, and stand the plastic drink bottle up.",
+    "Take the red-capped bottle, route it away from the pink shampoo bottle, and place the red-capped bottle upright.",
+    "Pick up the bottle with ridges on bottom with the left arm, keep it away from the plastic shampoo bottle with black pump, place the bottle with ridges on bottom upright.",
+    "Take the narrow-necked bottle up, skirt the shampoo bottle with shiny pink body, and put the narrow-necked bottle down upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the smooth pink plastic shampoo bottle, place the hand-sized soda bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the rectangular pink shampoo container, then set the Coca-Cola bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the rectangular pink shampoo container, place the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, route its path away from the rectangular pink shampoo container, then set the red-capped bottle upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the plastic shampoo bottle with black pump, and stand the red-capped bottle upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the shampoo bottle with shiny pink body, then place the narrow-necked bottle upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the smooth pink plastic shampoo bottle, then set the red-capped bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the plastic shampoo bottle with black pump, and stand the plastic drink bottle upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the shampoo bottle with rectangular shape, and put the smooth bottle with red lid upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the rectangular pink shampoo container, and stand the medium dark brown bottle up."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode14.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..036557c1fe195e5236f92be78bdfaadeff7e64f3
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bottle with white printed label, route it away from the medium shampoo bottle with pump, and place the bottle with white printed label upright.",
+    "Grab the bottle with ridges near base, avoid the hand-sized yellow shampoo bottle while moving, then place the bottle with ridges near base upright.",
+    "Using the left arm, lift the bottle with rounded neck, pass clear of the hand-sized yellow shampoo bottle, then place the bottle with rounded neck upright.",
+    "Use the left arm to lift the green bottle with indented base, avoid the shampoo bottle with handle slot en route, and stand the green bottle with indented base up.",
+    "With the left arm, pick the medium-sized green bottle up, avoid the yellow bottle with green top, and put the medium-sized green bottle upright.",
+    "With the left arm, lift the medium green bottle with capped neck, keep it away from the hand-sized yellow shampoo bottle, place the medium green bottle with capped neck upright.",
+    "Pick the medium green bottle up, keep its path clear of the yellow shampoo with cartoon design, place the medium green bottle upright.",
+    "Lift the smooth green plastic bottle, route it around the plastic shampoo bottle with label, then set the smooth green plastic bottle upright.",
+    "Guide the left arm to take the bottle with ridges near base, bypass the shampoo bottle with handle slot, and place the bottle with ridges near base upright.",
+    "Grab the bottle with narrow top, steer it around the shampoo bottle with handle slot, and place the bottle with narrow top upright.",
+    "Grip the medium-sized green bottle with the left arm, keep distance from the yellow bottle with green top, then set the medium-sized green bottle upright.",
+    "Grab the bottle with rounded neck, move it without crossing the smooth bottle with green top, then place the bottle with rounded neck upright.",
+    "Using the left arm, lift the medium green bottle with capped neck, keep clear of the shampoo bottle with handle slot, and place the medium green bottle with capped neck upright.",
+    "Lift the bottle with rounded neck, keep its path clear of the bottle with cartoon label, then set the bottle with rounded neck upright.",
+    "Move the medium-sized green bottle away from the yellow shampoo with cartoon design as you lift, then place the medium-sized green bottle upright.",
+    "Lift the bottle with ridges near base, route its path away from the medium shampoo bottle with pump, then set the bottle with ridges near base upright.",
+    "Pick up the bottle with ridges near base with the left arm, keep it away from the medium shampoo bottle with pump, place the bottle with ridges near base upright.",
+    "With the left arm, secure the smooth green bottle, pass around the yellow container with green pump, and set the smooth green bottle upright.",
+    "Use the left arm to grab the green bottle with indented base, carry it away from the hand-sized yellow shampoo bottle, set the green bottle with indented base upright.",
+    "Using the left arm, grasp the bottle with rounded neck, move it past the hand-sized yellow shampoo bottle, then stand the bottle with rounded neck up.",
+    "With the left arm, take the bottle with narrow top up, steer past the medium shampoo bottle with pump, and place the bottle with narrow top upright.",
+    "Have the left arm grasp the bottle with ridges near base, avoid the hand-sized yellow shampoo bottle while moving, and set the bottle with ridges near base upright.",
+    "Move the handheld green bottle from its spot, skirt the yellow bottle with green top, and stand the handheld green bottle upright.",
+    "Take the smooth green bottle, keep clear of the bottle with cartoon label, and place the smooth green bottle upright.",
+    "Pick up the bottle with rounded neck, route it around the plastic shampoo bottle with label, then stand the bottle with rounded neck upright.",
+    "Pick up the smooth green bottle, swing wide around the hand-sized yellow shampoo bottle, and set the smooth green bottle upright.",
+    "Grab the medium green bottle, carry it around the shampoo bottle with rounded body, then stand the medium green bottle upright.",
+    "With the left arm, pick up the green bottle with indented base, steer away from the shampoo bottle with handle slot, and stand the green bottle with indented base up.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the yellow bottle with green top, place the bottle with white printed label upright.",
+    "Grab the smooth green plastic bottle, keep it away from the shampoo with green dispensing pump, and put the smooth green plastic bottle down upright.",
+    "Lift the green bottle with indented base, guide it around the yellow shampoo bottle, then stand the green bottle with indented base upright.",
+    "With the left arm, take the handheld green bottle, avoid the shampoo bottle with rounded body while moving, and set the handheld green bottle upright.",
+    "Use the left arm, raise the bottle with ridges near base, keep distance from the shampoo bottle with rounded body, then place the bottle with ridges near base upright.",
+    "Lift the bottle with narrow top, keep its path away from the yellow shampoo bottle, and set the bottle with narrow top upright.",
+    "Grab the bottle with ridges near base, keep it from the yellow shampoo bottle, and set the bottle with ridges near base upright.",
+    "With the left arm, take the plastic bottle, pass outside the medium shampoo bottle with pump, and put the plastic bottle upright.",
+    "Direct the left arm to pick the plastic bottle up, avoid the medium shampoo bottle with pump, and stand the plastic bottle upright.",
+    "Take the medium-sized green bottle, move it without nearing the hand-sized yellow shampoo bottle, and stand the medium-sized green bottle upright.",
+    "Use the left arm to pick the handheld green bottle up, avoid the yellow shampoo with cartoon design, and place the handheld green bottle upright.",
+    "Take the bottle with white printed label up, skirt the yellow container with green pump, and put the bottle with white printed label down upright.",
+    "Take the medium green bottle with capped neck, route it away from the shampoo with green dispensing pump, and place the medium green bottle with capped neck upright.",
+    "Grab the green bottle with indented base, avoid the yellow bottle with green top while moving, then place the green bottle with indented base upright.",
+    "Using the left arm, lift the bottle with rounded neck, pass clear of the yellow bottle with green top, then place the bottle with rounded neck upright.",
+    "Use the left arm to lift the green bottle with indented base, avoid the yellow shampoo bottle en route, and stand the green bottle with indented base up.",
+    "With the left arm, pick the bottle with narrow top up, avoid the hand-sized yellow shampoo bottle, and put the bottle with narrow top upright.",
+    "With the left arm, lift the green bottle with indented base, keep it away from the yellow container with green pump, place the green bottle with indented base upright.",
+    "Pick the green bottle with indented base up, keep its path clear of the yellow container with green pump, place the green bottle with indented base upright.",
+    "Lift the smooth green bottle, route it around the yellow shampoo with cartoon design, then set the smooth green bottle upright.",
+    "Guide the left arm to take the handheld green bottle, bypass the yellow shampoo bottle, and place the handheld green bottle upright.",
+    "Grab the medium-sized green bottle, steer it around the yellow container with green pump, and place the medium-sized green bottle upright.",
+    "Grip the plastic bottle with the left arm, keep distance from the yellow bottle with green top, then set the plastic bottle upright.",
+    "Grab the bottle with ridges near base, move it without crossing the shampoo bottle with handle slot, then place the bottle with ridges near base upright.",
+    "Using the left arm, lift the bottle with white printed label, keep clear of the plastic shampoo bottle with label, and place the bottle with white printed label upright.",
+    "Lift the bottle with rounded neck, keep its path clear of the yellow bottle with green top, then set the bottle with rounded neck upright.",
+    "Move the medium green bottle with capped neck away from the shampoo bottle with handle slot as you lift, then place the medium green bottle with capped neck upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the shampoo bottle with handle slot, then set the medium green bottle with capped neck upright.",
+    "Pick up the medium-sized green bottle with the left arm, keep it away from the shampoo with green dispensing pump, place the medium-sized green bottle upright.",
+    "With the left arm, secure the bottle with white printed label, pass around the yellow container with green pump, and set the bottle with white printed label upright.",
+    "Use the left arm to grab the bottle with narrow top, carry it away from the bottle with cartoon label, set the bottle with narrow top upright.",
+    "Using the left arm, grasp the smooth green plastic bottle, move it past the yellow shampoo bottle, then stand the smooth green plastic bottle up.",
+    "With the left arm, take the smooth green plastic bottle up, steer past the shampoo bottle with rounded body, and place the smooth green plastic bottle upright.",
+    "Have the left arm grasp the smooth green bottle, avoid the shampoo bottle with handle slot while moving, and set the smooth green bottle upright.",
+    "Move the medium green bottle from its spot, skirt the shampoo bottle with rounded body, and stand the medium green bottle upright.",
+    "Take the smooth green bottle, keep clear of the shampoo bottle with rounded body, and place the smooth green bottle upright.",
+    "Pick up the handheld green bottle, route it around the yellow container with green pump, then stand the handheld green bottle upright.",
+    "Pick up the bottle with narrow top, swing wide around the yellow container with green pump, and set the bottle with narrow top upright.",
+    "Grab the medium green bottle, carry it around the shampoo with green dispensing pump, then stand the medium green bottle upright.",
+    "With the left arm, pick up the bottle with white printed label, steer away from the yellow bottle with green top, and stand the bottle with white printed label up.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the yellow shampoo with cartoon design, place the bottle with white printed label upright.",
+    "Grab the bottle with narrow top, keep it away from the yellow bottle with green top, and put the bottle with narrow top down upright.",
+    "Lift the smooth green plastic bottle, guide it around the bottle with cartoon label, then stand the smooth green plastic bottle upright.",
+    "With the left arm, take the medium-sized green bottle, avoid the shampoo with green dispensing pump while moving, and set the medium-sized green bottle upright.",
+    "Use the left arm, raise the smooth green bottle, keep distance from the shampoo bottle with handle slot, then place the smooth green bottle upright.",
+    "Lift the plastic bottle, keep its path away from the yellow shampoo with cartoon design, and set the plastic bottle upright.",
+    "Grab the bottle with narrow top, keep it from the bottle with cartoon label, and set the bottle with narrow top upright.",
+    "With the left arm, take the smooth green bottle, pass outside the bottle with cartoon label, and put the smooth green bottle upright.",
+    "Direct the left arm to pick the medium green bottle up, avoid the smooth bottle with green top, and stand the medium green bottle upright.",
+    "Take the green bottle with indented base, move it without nearing the yellow bottle with green top, and stand the green bottle with indented base upright.",
+    "Use the left arm to pick the medium green bottle with capped neck up, avoid the bottle with cartoon label, and place the medium green bottle with capped neck upright.",
+    "Take the plastic bottle up, skirt the yellow shampoo with cartoon design, and put the plastic bottle down upright.",
+    "Take the bottle with rounded neck, route it away from the shampoo bottle with rounded body, and place the bottle with rounded neck upright.",
+    "Grab the bottle with narrow top, avoid the plastic shampoo bottle with label while moving, then place the bottle with narrow top upright.",
+    "Using the left arm, lift the plastic bottle, pass clear of the smooth bottle with green top, then place the plastic bottle upright.",
+    "Use the left arm to lift the bottle with ridges near base, avoid the bottle with cartoon label en route, and stand the bottle with ridges near base up.",
+    "With the left arm, pick the handheld green bottle up, avoid the shampoo bottle with rounded body, and put the handheld green bottle upright.",
+    "With the left arm, lift the smooth green plastic bottle, keep it away from the yellow shampoo with cartoon design, place the smooth green plastic bottle upright.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the shampoo bottle with handle slot, place the smooth green plastic bottle upright.",
+    "Lift the green bottle with indented base, route it around the bottle with cartoon label, then set the green bottle with indented base upright.",
+    "Guide the left arm to take the smooth green bottle, bypass the plastic shampoo bottle with label, and place the smooth green bottle upright.",
+    "Grab the medium-sized green bottle, steer it around the yellow container with green pump, and place the medium-sized green bottle upright.",
+    "Grip the bottle with narrow top with the left arm, keep distance from the medium shampoo bottle with pump, then set the bottle with narrow top upright.",
+    "Grab the bottle with ridges near base, move it without crossing the plastic shampoo bottle with label, then place the bottle with ridges near base upright.",
+    "Using the left arm, lift the smooth green plastic bottle, keep clear of the yellow shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Lift the smooth green plastic bottle, keep its path clear of the medium shampoo bottle with pump, then set the smooth green plastic bottle upright.",
+    "Move the plastic bottle away from the bottle with cartoon label as you lift, then place the plastic bottle upright.",
+    "Lift the medium green bottle, route its path away from the yellow bottle with green top, then set the medium green bottle upright.",
+    "Pick up the bottle with ridges near base with the left arm, keep it away from the shampoo bottle with handle slot, place the bottle with ridges near base upright.",
+    "With the left arm, secure the bottle with ridges near base, pass around the hand-sized yellow shampoo bottle, and set the bottle with ridges near base upright.",
+    "Use the left arm to grab the handheld green bottle, carry it away from the shampoo with green dispensing pump, set the handheld green bottle upright.",
+    "Using the left arm, grasp the medium-sized green bottle, move it past the yellow shampoo bottle, then stand the medium-sized green bottle up."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green bottle with white label, move around the yellow shampoo with pump dispenser, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the yellow shampoo with pump dispenser, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the smooth plastic shampoo container, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Using the left arm, grab the green bottle, move around the smooth plastic shampoo container, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the yellow bottle with rounded edges, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the yellow bottle with rounded edges, then set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the yellow bottle with rounded edges, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Using the left arm, grab the green bottle, move around the smooth plastic shampoo container, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the yellow shampoo with pump dispenser, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth plastic shampoo container, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the yellow bottle with rounded edges, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth plastic shampoo container, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the yellow bottle with rounded edges, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the smooth plastic shampoo container, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the yellow bottle with rounded edges, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Using the left arm, grab the green bottle, move around the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the yellow bottle with rounded edges, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth plastic shampoo container, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the smooth plastic shampoo container, and place the green bottle upright.",
+    "Grab the green bottle, move it clear of the smooth plastic shampoo container, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow shampoo with pump dispenser, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the yellow bottle with rounded edges, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the smooth plastic shampoo container, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the smooth plastic shampoo container, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the yellow bottle with rounded edges, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode15.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..69682b2ae376960df63e8adf05bb64eb72a9abe5
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bottle with ridges near base, move it without nearing the pink-topped shampoo bottle, and stand the bottle with ridges near base upright.",
+    "Guide the right arm to take the plastic bottle, bypass the glossy white shampoo bottle, and place the plastic bottle upright.",
+    "Use the right arm, raise the medium-sized green bottle, keep distance from the hand-sized shampoo bottle, then place the medium-sized green bottle upright.",
+    "Using the right arm, lift the handheld green bottle, keep clear of the hand-sized shampoo bottle, and place the handheld green bottle upright.",
+    "Pick up the bottle with white printed label, route it around the shampoo bottle with pink cap, then stand the bottle with white printed label upright.",
+    "Take the green bottle with indented base, route it away from the glossy white shampoo bottle, and place the green bottle with indented base upright.",
+    "Have the right arm grasp the medium-sized green bottle, avoid the oval-shaped shampoo bottle while moving, and set the medium-sized green bottle upright.",
+    "Lift the green bottle with indented base, route its path away from the glossy white shampoo bottle, then set the green bottle with indented base upright.",
+    "Using the right arm, lift the smooth green plastic bottle, pass clear of the white body pink flip cap bottle, then place the smooth green plastic bottle upright.",
+    "With the right arm, lift the bottle with white printed label, keep it away from the white shampoo bottle, place the bottle with white printed label upright.",
+    "Grab the medium green bottle with capped neck, steer it around the hand-sized shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "With the right arm, pick up the bottle with rounded neck, steer away from the white shampoo bottle, and stand the bottle with rounded neck up.",
+    "Use the right arm to pick the medium green bottle with capped neck up, avoid the shampoo dispenser with flat base, and place the medium green bottle with capped neck upright.",
+    "Pick up the bottle with white printed label with the right arm, keep it away from the white shampoo bottle, place the bottle with white printed label upright.",
+    "Use the right arm to lift the medium-sized green bottle, avoid the glossy white shampoo bottle en route, and stand the medium-sized green bottle up.",
+    "Take the smooth green plastic bottle, keep clear of the shampoo bottle with pink cap, and place the smooth green plastic bottle upright.",
+    "Lift the handheld green bottle, guide it around the oval-shaped shampoo bottle, then stand the handheld green bottle upright.",
+    "Direct the right arm to pick the plastic bottle up, avoid the hand-sized shampoo bottle, and stand the plastic bottle upright.",
+    "Use the right arm to grab the green bottle with indented base, carry it away from the oval-shaped shampoo bottle, set the green bottle with indented base upright.",
+    "With the right arm, secure the bottle with white printed label, pass around the oval-shaped shampoo bottle, and set the bottle with white printed label upright.",
+    "Grab the smooth green plastic bottle, avoid the shampoo bottle with pink cap while moving, then place the smooth green plastic bottle upright.",
+    "Take the bottle with white printed label up, skirt the white body pink flip cap bottle, and put the bottle with white printed label down upright.",
+    "Using the right arm, pick the smooth green plastic bottle up, keep clear of the medium shampoo bottle, place the smooth green plastic bottle upright.",
+    "Pick the medium green bottle up, keep its path clear of the medium oval plastic shampoo container, place the medium green bottle upright.",
+    "Lift the plastic bottle, keep its path clear of the medium shampoo bottle, then set the plastic bottle upright.",
+    "With the right arm, take the plastic bottle, avoid the white shampoo bottle while moving, and set the plastic bottle upright.",
+    "Grip the smooth green plastic bottle with the right arm, keep distance from the medium oval plastic shampoo container, then set the smooth green plastic bottle upright.",
+    "With the right arm, take the bottle with ridges near base, pass outside the medium shampoo bottle, and put the bottle with ridges near base upright.",
+    "Pick up the handheld green bottle, swing wide around the white shampoo bottle, and set the handheld green bottle upright.",
+    "Grab the medium-sized green bottle, carry it around the shampoo bottle with pink cap, then stand the medium-sized green bottle upright.",
+    "Lift the medium green bottle with capped neck, keep its path away from the shampoo dispenser with flat base, and set the medium green bottle with capped neck upright.",
+    "Grab the smooth green bottle, move it without crossing the shampoo bottle with pink cap, then place the smooth green bottle upright.",
+    "Using the right arm, grasp the handheld green bottle, move it past the oval-shaped shampoo bottle, then stand the handheld green bottle up.",
+    "With the right arm, take the medium-sized green bottle up, steer past the white body pink flip cap bottle, and place the medium-sized green bottle upright.",
+    "Move the bottle with ridges near base from its spot, skirt the pink-topped shampoo bottle, and stand the bottle with ridges near base upright.",
+    "Grab the handheld green bottle, keep it from the shampoo dispenser with flat base, and set the handheld green bottle upright.",
+    "Lift the smooth green bottle, route it around the oval-shaped shampoo bottle, then set the smooth green bottle upright.",
+    "With the right arm, pick the smooth green bottle up, avoid the white body pink flip cap bottle, and put the smooth green bottle upright.",
+    "Grab the handheld green bottle, keep it away from the pink-topped shampoo bottle, and put the handheld green bottle down upright.",
+    "Move the green bottle with indented base away from the white shampoo bottle as you lift, then place the green bottle with indented base upright.",
+    "Take the bottle with narrow top, move it without nearing the pink-topped shampoo bottle, and stand the bottle with narrow top upright.",
+    "Guide the right arm to take the medium green bottle, bypass the shampoo bottle with pink cap, and place the medium green bottle upright.",
+    "Use the right arm, raise the bottle with narrow top, keep distance from the pink-topped shampoo bottle, then place the bottle with narrow top upright.",
+    "Using the right arm, lift the bottle with narrow top, keep clear of the glossy white shampoo bottle, and place the bottle with narrow top upright.",
+    "Pick up the plastic bottle, route it around the shampoo dispenser with flat base, then stand the plastic bottle upright.",
+    "Take the handheld green bottle, route it away from the medium oval plastic shampoo container, and place the handheld green bottle upright.",
+    "Have the right arm grasp the medium-sized green bottle, avoid the oval-shaped shampoo bottle while moving, and set the medium-sized green bottle upright.",
+    "Lift the bottle with narrow top, route its path away from the shampoo bottle with pink cap, then set the bottle with narrow top upright.",
+    "Using the right arm, lift the bottle with narrow top, pass clear of the pink-topped shampoo bottle, then place the bottle with narrow top upright.",
+    "With the right arm, lift the plastic bottle, keep it away from the white body pink flip cap bottle, place the plastic bottle upright.",
+    "Grab the handheld green bottle, steer it around the pink-topped shampoo bottle, and place the handheld green bottle upright.",
+    "With the right arm, pick up the medium green bottle, steer away from the medium shampoo bottle, and stand the medium green bottle up.",
+    "Use the right arm to pick the smooth green bottle up, avoid the white body pink flip cap bottle, and place the smooth green bottle upright.",
+    "Pick up the medium green bottle with the right arm, keep it away from the glossy white shampoo bottle, place the medium green bottle upright.",
+    "Use the right arm to lift the bottle with ridges near base, avoid the smooth white shampoo dispenser en route, and stand the bottle with ridges near base up.",
+    "Take the handheld green bottle, keep clear of the medium shampoo bottle, and place the handheld green bottle upright.",
+    "Lift the medium green bottle, guide it around the glossy white shampoo bottle, then stand the medium green bottle upright.",
+    "Direct the right arm to pick the green bottle with indented base up, avoid the smooth white shampoo dispenser, and stand the green bottle with indented base upright.",
+    "Use the right arm to grab the green bottle with indented base, carry it away from the plastic shampoo container, set the green bottle with indented base upright.",
+    "With the right arm, secure the bottle with white printed label, pass around the white shampoo bottle, and set the bottle with white printed label upright.",
+    "Grab the bottle with rounded neck, avoid the shampoo bottle with pink cap while moving, then place the bottle with rounded neck upright.",
+    "Take the plastic bottle up, skirt the shampoo bottle with pink cap, and put the plastic bottle down upright.",
+    "Using the right arm, pick the bottle with narrow top up, keep clear of the shampoo dispenser with flat base, place the bottle with narrow top upright.",
+    "Pick the handheld green bottle up, keep its path clear of the plastic shampoo container, place the handheld green bottle upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the shampoo bottle with pink cap, then set the medium green bottle with capped neck upright.",
+    "With the right arm, take the medium green bottle with capped neck, avoid the white body pink flip cap bottle while moving, and set the medium green bottle with capped neck upright.",
+    "Grip the medium green bottle with capped neck with the right arm, keep distance from the hand-sized shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "With the right arm, take the medium-sized green bottle, pass outside the plastic shampoo container, and put the medium-sized green bottle upright.",
+    "Pick up the medium green bottle, swing wide around the white shampoo bottle, and set the medium green bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the hand-sized shampoo bottle, then stand the smooth green plastic bottle upright.",
+    "Lift the bottle with ridges near base, keep its path away from the smooth white shampoo dispenser, and set the bottle with ridges near base upright.",
+    "Grab the green bottle with indented base, move it without crossing the shampoo dispenser with flat base, then place the green bottle with indented base upright.",
+    "Using the right arm, grasp the bottle with rounded neck, move it past the shampoo dispenser with flat base, then stand the bottle with rounded neck up.",
+    "With the right arm, take the bottle with ridges near base up, steer past the white body pink flip cap bottle, and place the bottle with ridges near base upright.",
+    "Move the medium green bottle from its spot, skirt the smooth white shampoo dispenser, and stand the medium green bottle upright.",
+    "Grab the smooth green bottle, keep it from the plastic shampoo container, and set the smooth green bottle upright.",
+    "Lift the plastic bottle, route it around the hand-sized shampoo bottle, then set the plastic bottle upright.",
+    "With the right arm, pick the smooth green plastic bottle up, avoid the white shampoo bottle, and put the smooth green plastic bottle upright.",
+    "Grab the bottle with white printed label, keep it away from the medium shampoo bottle, and put the bottle with white printed label down upright.",
+    "Move the bottle with rounded neck away from the plastic shampoo container as you lift, then place the bottle with rounded neck upright.",
+    "Take the medium green bottle with capped neck, move it without nearing the white shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Guide the right arm to take the bottle with white printed label, bypass the shampoo dispenser with flat base, and place the bottle with white printed label upright.",
+    "Use the right arm, raise the bottle with narrow top, keep distance from the glossy white shampoo bottle, then place the bottle with narrow top upright.",
+    "Using the right arm, lift the handheld green bottle, keep clear of the medium oval plastic shampoo container, and place the handheld green bottle upright.",
+    "Pick up the bottle with ridges near base, route it around the glossy white shampoo bottle, then stand the bottle with ridges near base upright.",
+    "Take the plastic bottle, route it away from the white shampoo bottle, and place the plastic bottle upright.",
+    "Have the right arm grasp the medium green bottle, avoid the hand-sized shampoo bottle while moving, and set the medium green bottle upright.",
+    "Lift the handheld green bottle, route its path away from the oval-shaped shampoo bottle, then set the handheld green bottle upright.",
+    "Using the right arm, lift the medium green bottle, pass clear of the shampoo dispenser with flat base, then place the medium green bottle upright.",
+    "With the right arm, lift the smooth green plastic bottle, keep it away from the glossy white shampoo bottle, place the smooth green plastic bottle upright.",
+    "Grab the green bottle with indented base, steer it around the plastic shampoo container, and place the green bottle with indented base upright.",
+    "With the right arm, pick up the smooth green plastic bottle, steer away from the white shampoo bottle, and stand the smooth green plastic bottle up.",
+    "Use the right arm to pick the medium-sized green bottle up, avoid the smooth white shampoo dispenser, and place the medium-sized green bottle upright.",
+    "Pick up the medium-sized green bottle with the right arm, keep it away from the shampoo bottle with pink cap, place the medium-sized green bottle upright.",
+    "Use the right arm to lift the medium green bottle, avoid the glossy white shampoo bottle en route, and stand the medium green bottle up.",
+    "Take the bottle with ridges near base, keep clear of the hand-sized shampoo bottle, and place the bottle with ridges near base upright.",
+    "Lift the handheld green bottle, guide it around the oval-shaped shampoo bottle, then stand the handheld green bottle upright.",
+    "Direct the right arm to pick the medium-sized green bottle up, avoid the pink-topped shampoo bottle, and stand the medium-sized green bottle upright.",
+    "Use the right arm to grab the medium green bottle, carry it away from the medium shampoo bottle, set the medium green bottle upright.",
+    "With the right arm, secure the bottle with rounded neck, pass around the white body pink flip cap bottle, and set the bottle with rounded neck upright."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the Dove shampoo bottle, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the Dove shampoo bottle, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the bottle for holding shampoo, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo bottle with Dove logo, and place the green bottle upright.",
+    "Grab the green bottle, move it clear of the bottle for holding shampoo, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the green bottle, guide it around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the bottle for holding shampoo, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with Dove logo, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, then set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the Dove shampoo bottle, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the Dove shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the bottle for holding shampoo, then set the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the Dove shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the bottle for holding shampoo, then set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the Dove shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, then set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the bottle for holding shampoo, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the bottle for holding shampoo, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, then set the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode16.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2c9c068084b722790321dbfafaf44cb0fffc758
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the narrow-necked bottle, move it without nearing the blue shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the shampoo bottle with white cap, and set the plastic drink bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the bottle of shampoo, and set the narrow-necked bottle upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the shampoo bottle flat bottom edge, place the brown bottle with red label upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the shampoo bottle flat bottom edge, place the hand-sized soda bottle upright.",
+    "Grab the plastic drink bottle, carry it around the curved light blue shampoo bottle, then stand the plastic drink bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the shampoo bottle tapered toward cap, and stand the red-capped bottle up.",
+    "Lift the bottle with ridges on bottom, guide it around the blue shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Grab the plastic drink bottle, steer it around the bottle of shampoo, and place the plastic drink bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the blue shampoo bottle slender design, and stand the plastic drink bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the blue shampoo bottle slender design, then set the hand-sized soda bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the curved light blue shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Take the hand-sized soda bottle, keep clear of the blue shampoo bottle slender design, and place the hand-sized soda bottle upright.",
+    "With the left arm, take the brown bottle with red label, avoid the bottle light blue rounded shape while moving, and set the brown bottle with red label upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle with matte plastic, place the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, keep it from the hand-sized shampoo bottle, and set the long thin bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the shampoo bottle tapered toward cap, set the bottle with white neck and red top upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the shampoo bottle with matte plastic, and put the Coca-Cola bottle upright.",
+    "Take the plastic drink bottle up, skirt the blue shampoo bottle, and put the plastic drink bottle down upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the shampoo bottle with matte plastic, place the Coca-Cola bottle upright.",
+    "Grab the narrow-necked bottle, avoid the curved light blue shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Pick up the red-capped bottle, route it around the small smooth shampoo bottle, then stand the red-capped bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the bottle of shampoo, and place the Coca-Cola bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the shampoo bottle with white cap, then place the dark drink bottle with logo upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the bottle of shampoo while moving, and set the narrow-necked bottle upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the bottle light blue rounded shape en route, and stand the bottle with ridges on bottom up.",
+    "Using the left arm, grasp the plastic drink bottle, move it past the blue shampoo bottle slender design, then stand the plastic drink bottle up.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the shampoo bottle flat bottom edge, and put the hand-sized soda bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the curved light blue shampoo bottle, and place the red-capped bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the bottle light blue rounded shape, and place the long thin bottle upright.",
+    "Move the bottle with ridges on bottom away from the small smooth shampoo bottle as you lift, then place the bottle with ridges on bottom upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the light blue shampoo bottle small size, and place the hand-sized soda bottle upright.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the shampoo bottle with white cap, and set the dark drink bottle with logo upright.",
+    "Move the narrow-necked bottle from its spot, skirt the curved light blue shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the bottle of shampoo, then set the narrow-necked bottle upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the bottle light blue rounded shape, then place the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the shampoo bottle flat bottom edge, then place the Coca-Cola bottle upright.",
+    "Grab the red-capped bottle, keep it away from the small smooth shampoo bottle, and put the red-capped bottle down upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the light blue shampoo bottle small size, then set the plastic drink bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the hand-sized shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Take the brown bottle with red label, move it without nearing the small smooth shampoo bottle, and stand the brown bottle with red label upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the bottle light blue rounded shape, and set the Coca-Cola bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the shampoo bottle flat bottom edge, and set the bottle with white neck and red top upright.",
+    "Pick the red-capped bottle up, keep its path clear of the shampoo bottle with matte plastic, place the red-capped bottle upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the small smooth shampoo bottle, place the dark drink bottle with logo upright.",
+    "Grab the smooth bottle with red lid, carry it around the bottle light blue rounded shape, then stand the smooth bottle with red lid upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the bottle light blue rounded shape, and stand the hand-sized soda bottle up.",
+    "Lift the Coca-Cola bottle, guide it around the shampoo bottle tapered toward cap, then stand the Coca-Cola bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the blue shampoo bottle slender design, and place the medium dark brown bottle upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the hand-sized shampoo bottle, and stand the red-capped bottle upright.",
+    "Lift the plastic drink bottle, route it around the bottle of shampoo, then set the plastic drink bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the shampoo bottle flat bottom edge, and place the red-capped bottle upright.",
+    "Take the smooth bottle with red lid, keep clear of the curved light blue shampoo bottle, and place the smooth bottle with red lid upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the shampoo bottle with white cap while moving, and set the hand-sized soda bottle upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the shampoo bottle flat bottom edge, place the medium dark brown bottle upright.",
+    "Grab the dark drink bottle with logo, keep it from the shampoo bottle flat bottom edge, and set the dark drink bottle with logo upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the curved light blue shampoo bottle, set the smooth bottle with red lid upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the shampoo bottle with white cap, and put the bottle with white neck and red top upright.",
+    "Take the bottle with ridges on bottom up, skirt the small smooth shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the curved light blue shampoo bottle, place the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, avoid the shampoo bottle with white cap while moving, then place the brown bottle with red label upright.",
+    "Pick up the long thin bottle, route it around the shampoo bottle flat bottom edge, then stand the long thin bottle upright.",
+    "Take the medium dark brown bottle, route it away from the light blue shampoo bottle small size, and place the medium dark brown bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, pass clear of the hand-sized shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Have the left arm grasp the long thin bottle, avoid the shampoo bottle tapered toward cap while moving, and set the long thin bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the curved light blue shampoo bottle en route, and stand the hand-sized soda bottle up.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the shampoo bottle with matte plastic, then stand the brown bottle with red label up.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the small smooth shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the shampoo bottle tapered toward cap, and place the bottle with white neck and red top upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the shampoo bottle with white cap, and place the narrow-necked bottle upright.",
+    "Move the brown bottle with red label away from the shampoo bottle with matte plastic as you lift, then place the brown bottle with red label upright.",
+    "With the left arm, take the narrow-necked bottle up, steer past the curved light blue shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the bottle of shampoo, and set the bottle with ridges on bottom upright.",
+    "Move the medium dark brown bottle from its spot, skirt the bottle of shampoo, and stand the medium dark brown bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the shampoo bottle with white cap, then set the bottle with ridges on bottom upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the shampoo bottle flat bottom edge, then place the hand-sized soda bottle upright.",
+    "Grab the red-capped bottle, move it without crossing the bottle of shampoo, then place the red-capped bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the shampoo bottle with white cap, and put the bottle with ridges on bottom down upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the shampoo bottle with matte plastic, then set the hand-sized soda bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the blue shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Take the brown bottle with red label, move it without nearing the shampoo bottle with white cap, and stand the brown bottle with red label upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the bottle light blue rounded shape, and set the hand-sized soda bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the bottle of shampoo, and set the plastic drink bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the bottle of shampoo, place the long thin bottle upright.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the shampoo bottle flat bottom edge, place the bottle with white neck and red top upright.",
+    "Grab the brown bottle with red label, carry it around the blue shampoo bottle slender design, then stand the brown bottle with red label upright.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the shampoo bottle flat bottom edge, and stand the smooth bottle with red lid up.",
+    "Lift the dark drink bottle with logo, guide it around the bottle light blue rounded shape, then stand the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, steer it around the shampoo bottle flat bottom edge, and place the long thin bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the blue shampoo bottle, and stand the plastic drink bottle upright.",
+    "Lift the red-capped bottle, route it around the blue shampoo bottle, then set the red-capped bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the bottle of shampoo, and place the brown bottle with red label upright.",
+    "Take the brown bottle with red label, keep clear of the shampoo bottle tapered toward cap, and place the brown bottle with red label upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the curved light blue shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "With the left arm, lift the plastic drink bottle, keep it away from the hand-sized shampoo bottle, place the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the shampoo bottle flat bottom edge, and set the bottle with white neck and red top upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the shampoo bottle flat bottom edge, set the smooth bottle with red lid upright.",
+    "With the left arm, take the long thin bottle, pass outside the blue shampoo bottle, and put the long thin bottle upright.",
+    "Take the long thin bottle up, skirt the shampoo bottle with white cap, and put the long thin bottle down upright.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the light blue shampoo bottle small size, place the dark drink bottle with logo upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode17.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e179d31e2cb42978b8ea70f43279052e36d10b
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, secure the smooth green plastic bottle, pass around the plastic shampoo bottle with black pump, and set the smooth green plastic bottle upright.",
+    "Using the left arm, grasp the green bottle with indented base, move it past the pink shampoo bottle, then stand the green bottle with indented base up.",
+    "Lift the handheld green bottle, keep its path away from the pink bottle with black dispenser, and set the handheld green bottle upright.",
+    "Move the bottle with white printed label away from the smooth pink plastic shampoo bottle as you lift, then place the bottle with white printed label upright.",
+    "Grab the bottle with white printed label, keep it from the hand-sized pink shampoo container, and set the bottle with white printed label upright.",
+    "Pick the bottle with rounded neck up, keep its path clear of the pink shampoo bottle, place the bottle with rounded neck upright.",
+    "Lift the handheld green bottle, keep its path clear of the smooth pink plastic shampoo bottle, then set the handheld green bottle upright.",
+    "Take the bottle with rounded neck, move it without nearing the plastic shampoo bottle with black pump, and stand the bottle with rounded neck upright.",
+    "With the left arm, take the smooth green plastic bottle, avoid the pink shampoo container with pump top while moving, and set the smooth green plastic bottle upright.",
+    "Using the left arm, lift the bottle with white printed label, pass clear of the rectangular pink bottle with dispenser, then place the bottle with white printed label upright.",
+    "Using the left arm, lift the medium green bottle, keep clear of the pink bottle with narrow top, and place the medium green bottle upright.",
+    "Grip the bottle with narrow top with the left arm, keep distance from the medium pink bottle for shampoo, then set the bottle with narrow top upright.",
+    "Guide the left arm to take the plastic bottle, bypass the pink shampoo bottle, and place the plastic bottle upright.",
+    "Direct the left arm to pick the bottle with rounded neck up, avoid the pink bottle with narrow top, and stand the bottle with rounded neck upright.",
+    "Grab the plastic bottle, carry it around the pink bottle with black dispenser, then stand the plastic bottle upright.",
+    "Using the left arm, pick the bottle with narrow top up, keep clear of the rectangular pink shampoo container, place the bottle with narrow top upright.",
+    "Use the left arm to grab the plastic bottle, carry it away from the hand-sized pink shampoo container, set the plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the shampoo bottle with rectangular shape, then set the medium green bottle with capped neck upright.",
+    "Grab the bottle with narrow top, keep it away from the pink bottle with black dispenser, and put the bottle with narrow top down upright.",
+    "Take the plastic bottle, keep clear of the hand-sized pink shampoo container, and place the plastic bottle upright.",
+    "Grab the smooth green bottle, steer it around the pink shampoo bottle, and place the smooth green bottle upright.",
+    "Use the left arm to pick the bottle with ridges near base up, avoid the shampoo bottle with shiny pink body, and place the bottle with ridges near base upright.",
+    "Grab the plastic bottle, move it without crossing the pink shampoo container with pump top, then place the plastic bottle upright.",
+    "Grab the medium green bottle, avoid the rectangular pink shampoo container while moving, then place the medium green bottle upright.",
+    "Pick up the medium green bottle, swing wide around the medium pink bottle for shampoo, and set the medium green bottle upright.",
+    "Have the left arm grasp the smooth green bottle, avoid the rectangular pink bottle with dispenser while moving, and set the smooth green bottle upright.",
+    "Take the bottle with rounded neck, route it away from the shampoo bottle with shiny pink body, and place the bottle with rounded neck upright.",
+    "With the left arm, lift the medium-sized green bottle, keep it away from the rectangular pink shampoo container, place the medium-sized green bottle upright.",
+    "With the left arm, take the medium green bottle with capped neck, pass outside the rectangular pink shampoo container, and put the medium green bottle with capped neck upright.",
+    "With the left arm, pick up the green bottle with indented base, steer away from the hand-sized pink shampoo container, and stand the green bottle with indented base up.",
+    "Lift the bottle with rounded neck, guide it around the smooth pink plastic shampoo bottle, then stand the bottle with rounded neck upright.",
+    "With the left arm, pick the medium green bottle with capped neck up, avoid the smooth pink plastic shampoo bottle, and put the medium green bottle with capped neck upright.",
+    "Use the left arm, raise the bottle with ridges near base, keep distance from the rectangular pink bottle with dispenser, then place the bottle with ridges near base upright.",
+    "Pick up the green bottle with indented base, route it around the medium pink bottle for shampoo, then stand the green bottle with indented base upright.",
+    "Move the bottle with ridges near base from its spot, skirt the shampoo bottle with shiny pink body, and stand the bottle with ridges near base upright.",
+    "Use the left arm to lift the bottle with rounded neck, avoid the pink shampoo container with pump top en route, and stand the bottle with rounded neck up.",
+    "Take the medium green bottle up, skirt the rectangular pink shampoo container, and put the medium green bottle down upright.",
+    "Lift the medium green bottle, route it around the pink bottle with narrow top, then set the medium green bottle upright.",
+    "With the left arm, take the handheld green bottle up, steer past the medium pink bottle for shampoo, and place the handheld green bottle upright.",
+    "Pick up the green bottle with indented base with the left arm, keep it away from the pink shampoo bottle, place the green bottle with indented base upright.",
+    "With the left arm, secure the bottle with rounded neck, pass around the pink shampoo container with pump top, and set the bottle with rounded neck upright.",
+    "Using the left arm, grasp the bottle with narrow top, move it past the shampoo bottle with rectangular shape, then stand the bottle with narrow top up.",
+    "Lift the medium green bottle with capped neck, keep its path away from the shampoo bottle with shiny pink body, and set the medium green bottle with capped neck upright.",
+    "Move the medium green bottle with capped neck away from the shampoo bottle with shiny pink body as you lift, then place the medium green bottle with capped neck upright.",
+    "Grab the green bottle with indented base, keep it from the shampoo bottle with rectangular shape, and set the green bottle with indented base upright.",
+    "Pick the medium green bottle up, keep its path clear of the hand-sized pink shampoo container, place the medium green bottle upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the shampoo bottle with rectangular shape, then set the bottle with ridges near base upright.",
+    "Take the plastic bottle, move it without nearing the shampoo bottle with shiny pink body, and stand the plastic bottle upright.",
+    "With the left arm, take the plastic bottle, avoid the pink shampoo bottle while moving, and set the plastic bottle upright.",
+    "Using the left arm, lift the medium green bottle, pass clear of the pink bottle with black dispenser, then place the medium green bottle upright.",
+    "Using the left arm, lift the smooth green bottle, keep clear of the shampoo bottle with rectangular shape, and place the smooth green bottle upright.",
+    "Grip the smooth green bottle with the left arm, keep distance from the shampoo bottle with rectangular shape, then set the smooth green bottle upright.",
+    "Guide the left arm to take the green bottle with indented base, bypass the pink shampoo bottle, and place the green bottle with indented base upright.",
+    "Direct the left arm to pick the smooth green bottle up, avoid the pink shampoo bottle, and stand the smooth green bottle upright.",
+    "Grab the medium green bottle, carry it around the medium pink bottle for shampoo, then stand the medium green bottle upright.",
+    "Using the left arm, pick the plastic bottle up, keep clear of the hand-sized pink shampoo container, place the plastic bottle upright.",
+    "Use the left arm to grab the plastic bottle, carry it away from the pink shampoo bottle, set the plastic bottle upright.",
+    "Lift the plastic bottle, route its path away from the pink shampoo container with pump top, then set the plastic bottle upright.",
+    "Grab the bottle with rounded neck, keep it away from the pink shampoo bottle, and put the bottle with rounded neck down upright.",
+    "Take the plastic bottle, keep clear of the pink bottle with narrow top, and place the plastic bottle upright.",
+    "Grab the bottle with rounded neck, steer it around the shampoo bottle with shiny pink body, and place the bottle with rounded neck upright.",
+    "Use the left arm to pick the green bottle with indented base up, avoid the rectangular pink bottle with dispenser, and place the green bottle with indented base upright.",
+    "Grab the medium green bottle with capped neck, move it without crossing the medium pink bottle for shampoo, then place the medium green bottle with capped neck upright.",
+    "Grab the medium-sized green bottle, avoid the pink bottle with narrow top while moving, then place the medium-sized green bottle upright.",
+    "Pick up the bottle with white printed label, swing wide around the pink bottle with narrow top, and set the bottle with white printed label upright.",
+    "Have the left arm grasp the plastic bottle, avoid the pink shampoo container with pump top while moving, and set the plastic bottle upright.",
+    "Take the medium green bottle, route it away from the shampoo bottle with shiny pink body, and place the medium green bottle upright.",
+    "With the left arm, lift the bottle with narrow top, keep it away from the plastic shampoo bottle with black pump, place the bottle with narrow top upright.",
+    "With the left arm, take the plastic bottle, pass outside the pink shampoo bottle, and put the plastic bottle upright.",
+    "With the left arm, pick up the medium green bottle, steer away from the hand-sized pink shampoo container, and stand the medium green bottle up.",
+    "Lift the medium-sized green bottle, guide it around the pink shampoo bottle, then stand the medium-sized green bottle upright.",
+    "With the left arm, pick the smooth green bottle up, avoid the shampoo bottle with rectangular shape, and put the smooth green bottle upright.",
+    "Use the left arm, raise the plastic bottle, keep distance from the pink shampoo container with pump top, then place the plastic bottle upright.",
+    "Pick up the plastic bottle, route it around the medium pink bottle for shampoo, then stand the plastic bottle upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the pink bottle with black dispenser, and stand the smooth green plastic bottle upright.",
+    "Use the left arm to lift the bottle with white printed label, avoid the shampoo bottle with shiny pink body en route, and stand the bottle with white printed label up.",
+    "Take the medium-sized green bottle up, skirt the pink bottle with narrow top, and put the medium-sized green bottle down upright.",
+    "Lift the green bottle with indented base, route it around the rectangular pink bottle with dispenser, then set the green bottle with indented base upright.",
+    "With the left arm, take the bottle with rounded neck up, steer past the pink bottle with black dispenser, and place the bottle with rounded neck upright.",
+    "Pick up the green bottle with indented base with the left arm, keep it away from the pink shampoo container with pump top, place the green bottle with indented base upright.",
+    "With the left arm, secure the medium green bottle with capped neck, pass around the hand-sized pink shampoo container, and set the medium green bottle with capped neck upright.",
+    "Using the left arm, grasp the bottle with ridges near base, move it past the hand-sized pink shampoo container, then stand the bottle with ridges near base up.",
+    "Lift the smooth green plastic bottle, keep its path away from the shampoo bottle with rectangular shape, and set the smooth green plastic bottle upright.",
+    "Move the green bottle with indented base away from the medium pink bottle for shampoo as you lift, then place the green bottle with indented base upright.",
+    "Grab the handheld green bottle, keep it from the pink shampoo container with pump top, and set the handheld green bottle upright.",
+    "Pick the bottle with ridges near base up, keep its path clear of the pink shampoo bottle, place the bottle with ridges near base upright.",
+    "Lift the handheld green bottle, keep its path clear of the medium pink bottle for shampoo, then set the handheld green bottle upright.",
+    "Take the green bottle with indented base, move it without nearing the plastic shampoo bottle with black pump, and stand the green bottle with indented base upright.",
+    "With the left arm, take the bottle with ridges near base, avoid the shampoo bottle with rectangular shape while moving, and set the bottle with ridges near base upright.",
+    "Using the left arm, lift the medium-sized green bottle, pass clear of the pink shampoo bottle, then place the medium-sized green bottle upright.",
+    "Using the left arm, lift the plastic bottle, keep clear of the medium pink bottle for shampoo, and place the plastic bottle upright.",
+    "Grip the plastic bottle with the left arm, keep distance from the shampoo bottle with rectangular shape, then set the plastic bottle upright.",
+    "Guide the left arm to take the medium green bottle, bypass the pink bottle with black dispenser, and place the medium green bottle upright.",
+    "Direct the left arm to pick the plastic bottle up, avoid the shampoo bottle with rectangular shape, and stand the plastic bottle upright.",
+    "Grab the bottle with rounded neck, carry it around the plastic shampoo bottle with black pump, then stand the bottle with rounded neck upright.",
+    "Using the left arm, pick the bottle with narrow top up, keep clear of the shampoo bottle with shiny pink body, place the bottle with narrow top upright.",
+    "Use the left arm to grab the plastic bottle, carry it away from the pink shampoo bottle, set the plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the shampoo bottle with rectangular shape, then set the medium green bottle with capped neck upright.",
+    "Grab the smooth green plastic bottle, keep it away from the pink bottle with black dispenser, and put the smooth green plastic bottle down upright.",
+    "Take the plastic bottle, keep clear of the medium pink bottle for shampoo, and place the plastic bottle upright."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom, guide it around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the glossy pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the plastic pink shampoo bottle, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the glossy pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the glossy pink shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the plastic pink shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the plastic pink shampoo bottle, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the plastic pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with black pump, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the plastic pink shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the glossy pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the glossy pink shampoo bottle, and place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the glossy pink shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the glossy pink shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the glossy pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the glossy pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the plastic pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the glossy pink shampoo bottle, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the glossy pink shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, and place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the green bottle, steer it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with black pump, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with black pump, and place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the plastic pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the glossy pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the glossy pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the plastic pink shampoo bottle, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with black pump, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the glossy pink shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the plastic pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, move it clear of the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the glossy pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with black pump, and place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the plastic pink shampoo bottle, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode18.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..204a3053b5a77335398be106f732253991fca87b
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, secure the Coca-Cola bottle, pass around the yellow bottle with green top, and set the Coca-Cola bottle upright.",
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the plastic shampoo bottle with label, then stand the Coca-Cola bottle up.",
+    "With the right arm, take the smooth bottle with red lid, avoid the bottle with cartoon label while moving, and set the smooth bottle with red lid upright.",
+    "Take the Coca-Cola bottle, route it away from the shampoo bottle with handle slot, and place the Coca-Cola bottle upright.",
+    "Use the right arm to lift the smooth bottle with red lid, avoid the shampoo bottle with handle slot en route, and stand the smooth bottle with red lid up.",
+    "Grab the dark drink bottle with logo, carry it around the bottle with cartoon label, then stand the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, move it without crossing the smooth bottle with green top, then place the long thin bottle upright.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the bottle with cartoon label, place the dark drink bottle with logo upright.",
+    "Use the right arm, raise the bottle with ridges on bottom, keep distance from the plastic shampoo bottle with label, then place the bottle with ridges on bottom upright.",
+    "Pick the bottle with white neck and red top up, keep its path clear of the bottle with cartoon label, place the bottle with white neck and red top upright.",
+    "Guide the right arm to take the smooth bottle with red lid, bypass the yellow shampoo with cartoon design, and place the smooth bottle with red lid upright.",
+    "Grab the smooth bottle with red lid, keep it from the medium shampoo bottle with pump, and set the smooth bottle with red lid upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the bottle with cartoon label, and set the hand-sized soda bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the shampoo with green dispensing pump, then set the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, keep it away from the yellow bottle with green top, and put the smooth bottle with red lid down upright.",
+    "Take the Coca-Cola bottle, keep clear of the plastic shampoo bottle with label, and place the Coca-Cola bottle upright.",
+    "Pick up the brown bottle with red label with the right arm, keep it away from the hand-sized yellow shampoo bottle, place the brown bottle with red label upright.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the yellow shampoo with cartoon design, and put the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, avoid the plastic shampoo bottle with label while moving, then place the red-capped bottle upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the plastic shampoo bottle with label, and put the bottle with white neck and red top upright.",
+    "Using the right arm, pick the narrow-necked bottle up, keep clear of the shampoo bottle with handle slot, place the narrow-necked bottle upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the plastic shampoo bottle with label, then set the medium dark brown bottle upright.",
+    "Take the red-capped bottle up, skirt the plastic shampoo bottle with label, and put the red-capped bottle down upright.",
+    "Lift the hand-sized soda bottle, route it around the shampoo bottle with handle slot, then set the hand-sized soda bottle upright.",
+    "Move the bottle with white neck and red top away from the bottle with cartoon label as you lift, then place the bottle with white neck and red top upright.",
+    "Have the right arm grasp the narrow-necked bottle, avoid the shampoo bottle with handle slot while moving, and set the narrow-necked bottle upright.",
+    "With the right arm, pick up the plastic drink bottle, steer away from the yellow shampoo bottle, and stand the plastic drink bottle up.",
+    "Grab the narrow-necked bottle, steer it around the plastic shampoo bottle with label, and place the narrow-necked bottle upright.",
+    "Direct the right arm to pick the smooth bottle with red lid up, avoid the yellow shampoo with cartoon design, and stand the smooth bottle with red lid upright.",
+    "Lift the bottle with white neck and red top, guide it around the medium shampoo bottle with pump, then stand the bottle with white neck and red top upright.",
+    "Using the right arm, lift the hand-sized soda bottle, pass clear of the shampoo bottle with handle slot, then place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the yellow bottle with green top, and place the brown bottle with red label upright.",
+    "Grip the narrow-necked bottle with the right arm, keep distance from the yellow shampoo bottle, then set the narrow-necked bottle upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the hand-sized yellow shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the shampoo bottle with rounded body, and set the bottle with white neck and red top upright.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the yellow shampoo with cartoon design, set the dark drink bottle with logo upright.",
+    "Move the red-capped bottle from its spot, skirt the yellow shampoo bottle, and stand the red-capped bottle upright.",
+    "With the right arm, take the red-capped bottle up, steer past the medium shampoo bottle with pump, and place the red-capped bottle upright.",
+    "Pick up the bottle with ridges on bottom, route it around the shampoo with green dispensing pump, then stand the bottle with ridges on bottom upright.",
+    "Take the red-capped bottle, move it without nearing the shampoo bottle with rounded body, and stand the red-capped bottle upright.",
+    "With the right arm, secure the medium dark brown bottle, pass around the yellow bottle with green top, and set the medium dark brown bottle upright.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the bottle with cartoon label, then stand the hand-sized soda bottle up.",
+    "With the right arm, take the bottle with white neck and red top, avoid the shampoo bottle with handle slot while moving, and set the bottle with white neck and red top upright.",
+    "Take the smooth bottle with red lid, route it away from the shampoo bottle with handle slot, and place the smooth bottle with red lid upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the bottle with cartoon label en route, and stand the red-capped bottle up.",
+    "Grab the bottle with ridges on bottom, carry it around the smooth bottle with green top, then stand the bottle with ridges on bottom upright.",
+    "Grab the red-capped bottle, move it without crossing the medium shampoo bottle with pump, then place the red-capped bottle upright.",
+    "With the right arm, lift the narrow-necked bottle, keep it away from the yellow shampoo bottle, place the narrow-necked bottle upright.",
+    "Use the right arm, raise the bottle with white neck and red top, keep distance from the shampoo bottle with rounded body, then place the bottle with white neck and red top upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the yellow shampoo bottle, place the Coca-Cola bottle upright.",
+    "Guide the right arm to take the medium dark brown bottle, bypass the shampoo bottle with handle slot, and place the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the hand-sized yellow shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the plastic shampoo bottle with label, and set the bottle with white neck and red top upright.",
+    "Lift the long thin bottle, route its path away from the shampoo with green dispensing pump, then set the long thin bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo with green dispensing pump, and put the dark drink bottle with logo down upright.",
+    "Take the brown bottle with red label, keep clear of the yellow shampoo bottle, and place the brown bottle with red label upright.",
+    "Pick up the long thin bottle with the right arm, keep it away from the shampoo bottle with rounded body, place the long thin bottle upright.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the shampoo bottle with rounded body, and put the medium dark brown bottle upright.",
+    "Grab the narrow-necked bottle, avoid the yellow bottle with green top while moving, then place the narrow-necked bottle upright.",
+    "With the right arm, take the plastic drink bottle, pass outside the bottle with cartoon label, and put the plastic drink bottle upright.",
+    "Using the right arm, pick the brown bottle with red label up, keep clear of the yellow shampoo with cartoon design, place the brown bottle with red label upright.",
+    "Lift the red-capped bottle, keep its path clear of the medium shampoo bottle with pump, then set the red-capped bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the yellow shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Lift the hand-sized soda bottle, route it around the yellow bottle with green top, then set the hand-sized soda bottle upright.",
+    "Move the bottle with white neck and red top away from the yellow container with green pump as you lift, then place the bottle with white neck and red top upright.",
+    "Have the right arm grasp the bottle with white neck and red top, avoid the shampoo bottle with rounded body while moving, and set the bottle with white neck and red top upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the yellow shampoo with cartoon design, and stand the Coca-Cola bottle up.",
+    "Grab the long thin bottle, steer it around the yellow shampoo bottle, and place the long thin bottle upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the bottle with cartoon label, and stand the dark drink bottle with logo upright.",
+    "Lift the Coca-Cola bottle, guide it around the yellow bottle with green top, then stand the Coca-Cola bottle upright.",
+    "Using the right arm, lift the bottle with white neck and red top, pass clear of the shampoo bottle with rounded body, then place the bottle with white neck and red top upright.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the smooth bottle with green top, and place the narrow-necked bottle upright.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the medium shampoo bottle with pump, then set the plastic drink bottle upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the smooth bottle with green top, and place the dark drink bottle with logo upright.",
+    "Pick up the brown bottle with red label, swing wide around the medium shampoo bottle with pump, and set the brown bottle with red label upright.",
+    "Use the right arm to grab the bottle with white neck and red top, carry it away from the yellow bottle with green top, set the bottle with white neck and red top upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the bottle with cartoon label, and stand the bottle with white neck and red top upright.",
+    "With the right arm, take the plastic drink bottle up, steer past the hand-sized yellow shampoo bottle, and place the plastic drink bottle upright.",
+    "Pick up the red-capped bottle, route it around the yellow shampoo with cartoon design, then stand the red-capped bottle upright.",
+    "Take the long thin bottle, move it without nearing the plastic shampoo bottle with label, and stand the long thin bottle upright.",
+    "With the right arm, secure the medium dark brown bottle, pass around the medium shampoo bottle with pump, and set the medium dark brown bottle upright.",
+    "Using the right arm, grasp the brown bottle with red label, move it past the smooth bottle with green top, then stand the brown bottle with red label up.",
+    "With the right arm, take the Coca-Cola bottle, avoid the yellow shampoo bottle while moving, and set the Coca-Cola bottle upright.",
+    "Take the red-capped bottle, route it away from the smooth bottle with green top, and place the red-capped bottle upright.",
+    "Use the right arm to lift the smooth bottle with red lid, avoid the shampoo bottle with handle slot en route, and stand the smooth bottle with red lid up.",
+    "Grab the dark drink bottle with logo, carry it around the bottle with cartoon label, then stand the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, move it without crossing the bottle with cartoon label, then place the medium dark brown bottle upright.",
+    "With the right arm, lift the plastic drink bottle, keep it away from the smooth bottle with green top, place the plastic drink bottle upright.",
+    "Use the right arm, raise the medium dark brown bottle, keep distance from the bottle with cartoon label, then place the medium dark brown bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the smooth bottle with green top, place the plastic drink bottle upright.",
+    "Guide the right arm to take the medium dark brown bottle, bypass the bottle with cartoon label, and place the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, keep it from the smooth bottle with green top, and set the hand-sized soda bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the shampoo with green dispensing pump, and set the hand-sized soda bottle upright.",
+    "Lift the brown bottle with red label, route its path away from the hand-sized yellow shampoo bottle, then set the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, keep it away from the shampoo with green dispensing pump, and put the brown bottle with red label down upright.",
+    "Take the bottle with white neck and red top, keep clear of the medium shampoo bottle with pump, and place the bottle with white neck and red top upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the bottle with cartoon label, place the hand-sized soda bottle upright.",
+    "With the right arm, pick the bottle with ridges on bottom up, avoid the yellow shampoo with cartoon design, and put the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, avoid the shampoo with green dispensing pump while moving, then place the hand-sized soda bottle upright.",
+    "With the right arm, take the red-capped bottle, pass outside the yellow container with green pump, and put the red-capped bottle upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode19.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa16b788172d2ab601ae8d2528114c070cdcb92e
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, take the smooth green plastic bottle, pass outside the medium shampoo container, and put the smooth green plastic bottle upright.",
+    "Take the medium green bottle, move it without nearing the white shampoo bottle with golden top, and stand the medium green bottle upright.",
+    "Grip the medium-sized green bottle with the right arm, keep distance from the white bottle with golden accents, then set the medium-sized green bottle upright.",
+    "Pick up the handheld green bottle, route it around the shampoo bottle with rectangular base, then stand the handheld green bottle upright.",
+    "Pick up the medium-sized green bottle, swing wide around the hand-held shampoo bottle, and set the medium-sized green bottle upright.",
+    "Lift the medium-sized green bottle, guide it around the rectangular shampoo bottle with rounded top, then stand the medium-sized green bottle upright.",
+    "With the right arm, pick up the bottle with narrow top, steer away from the smooth shampoo container, and stand the bottle with narrow top up.",
+    "Grab the smooth green bottle, move it without crossing the smooth shampoo container, then place the smooth green bottle upright.",
+    "Using the right arm, lift the bottle with white printed label, pass clear of the rectangular shampoo bottle with rounded top, then place the bottle with white printed label upright.",
+    "With the right arm, pick the medium green bottle up, avoid the white shampoo bottle, and put the medium green bottle upright.",
+    "Lift the smooth green plastic bottle, keep its path clear of the smooth shampoo container, then set the smooth green plastic bottle upright.",
+    "Use the right arm to pick the medium green bottle up, avoid the smooth shampoo container, and place the medium green bottle upright.",
+    "Move the bottle with rounded neck away from the white bottle with golden accents as you lift, then place the bottle with rounded neck upright.",
+    "With the right arm, take the medium green bottle with capped neck, avoid the hand-held shampoo bottle while moving, and set the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top, keep clear of the white shampoo bottle with golden top, and place the bottle with narrow top upright.",
+    "Have the right arm grasp the smooth green bottle, avoid the white bottle with golden accents while moving, and set the smooth green bottle upright.",
+    "Take the green bottle with indented base up, skirt the white shampoo bottle with golden top, and put the green bottle with indented base down upright.",
+    "With the right arm, lift the bottle with narrow top, keep it away from the bottle for shampoo with glossy finish, place the bottle with narrow top upright.",
+    "Use the right arm to grab the bottle with rounded neck, carry it away from the white shampoo bottle with golden top, set the bottle with rounded neck upright.",
+    "With the right arm, take the medium green bottle up, steer past the hand-held shampoo bottle, and place the medium green bottle upright.",
+    "Lift the medium-sized green bottle, route its path away from the plastic shampoo bottle with smooth surface, then set the medium-sized green bottle upright.",
+    "Grab the bottle with narrow top, keep it away from the bottle for shampoo with glossy finish, and put the bottle with narrow top down upright.",
+    "Take the medium green bottle, route it away from the white shampoo bottle with golden top, and place the medium green bottle upright.",
+    "Pick the medium green bottle up, keep its path clear of the shampoo bottle, place the medium green bottle upright.",
+    "Using the right arm, grasp the bottle with narrow top, move it past the rectangular shampoo bottle with rounded top, then stand the bottle with narrow top up.",
+    "Pick up the medium-sized green bottle with the right arm, keep it away from the bottle for shampoo with glossy finish, place the medium-sized green bottle upright.",
+    "Use the right arm to lift the bottle with white printed label, avoid the shampoo bottle with rectangular base en route, and stand the bottle with white printed label up.",
+    "Guide the right arm to take the medium green bottle, bypass the smooth shampoo container, and place the medium green bottle upright.",
+    "Move the bottle with white printed label from its spot, skirt the shampoo bottle, and stand the bottle with white printed label upright.",
+    "Grab the handheld green bottle, steer it around the smooth shampoo container, and place the handheld green bottle upright.",
+    "Grab the bottle with white printed label, carry it around the smooth shampoo container, then stand the bottle with white printed label upright.",
+    "Using the right arm, lift the medium-sized green bottle, keep clear of the hand-held shampoo bottle, and place the medium-sized green bottle upright.",
+    "Direct the right arm to pick the green bottle with indented base up, avoid the medium shampoo container, and stand the green bottle with indented base upright.",
+    "Lift the green bottle with indented base, route it around the rectangular shampoo bottle with rounded top, then set the green bottle with indented base upright.",
+    "Using the right arm, pick the medium-sized green bottle up, keep clear of the medium shampoo container, place the medium-sized green bottle upright.",
+    "Lift the medium green bottle, keep its path away from the plastic shampoo bottle with smooth surface, and set the medium green bottle upright.",
+    "With the right arm, secure the bottle with rounded neck, pass around the smooth shampoo container, and set the bottle with rounded neck upright.",
+    "Grab the medium green bottle, avoid the shampoo bottle with rectangular base while moving, then place the medium green bottle upright.",
+    "Use the right arm, raise the medium green bottle, keep distance from the bottle for shampoo with glossy finish, then place the medium green bottle upright.",
+    "Grab the smooth green plastic bottle, keep it from the bottle for shampoo with glossy finish, and set the smooth green plastic bottle upright.",
+    "With the right arm, take the bottle with ridges near base, pass outside the rectangular shampoo bottle with rounded top, and put the bottle with ridges near base upright.",
+    "Take the green bottle with indented base, move it without nearing the shampoo bottle with rectangular base, and stand the green bottle with indented base upright.",
+    "Grip the green bottle with indented base with the right arm, keep distance from the shampoo bottle, then set the green bottle with indented base upright.",
+    "Pick up the bottle with narrow top, route it around the hand-held shampoo bottle, then stand the bottle with narrow top upright.",
+    "Pick up the plastic bottle, swing wide around the shampoo bottle with rectangular base, and set the plastic bottle upright.",
+    "Lift the plastic bottle, guide it around the medium shampoo container, then stand the plastic bottle upright.",
+    "With the right arm, pick up the smooth green bottle, steer away from the white shampoo bottle, and stand the smooth green bottle up.",
+    "Grab the bottle with ridges near base, move it without crossing the white shampoo bottle with golden top, then place the bottle with ridges near base upright.",
+    "Using the right arm, lift the smooth green plastic bottle, pass clear of the hand-held shampoo bottle, then place the smooth green plastic bottle upright.",
+    "With the right arm, pick the medium green bottle with capped neck up, avoid the medium shampoo container, and put the medium green bottle with capped neck upright.",
+    "Lift the smooth green bottle, keep its path clear of the medium shampoo container, then set the smooth green bottle upright.",
+    "Use the right arm to pick the bottle with ridges near base up, avoid the bottle for shampoo with glossy finish, and place the bottle with ridges near base upright.",
+    "Move the medium-sized green bottle away from the white shampoo bottle with golden top as you lift, then place the medium-sized green bottle upright.",
+    "With the right arm, take the bottle with narrow top, avoid the shampoo bottle with rectangular base while moving, and set the bottle with narrow top upright.",
+    "Take the green bottle with indented base, keep clear of the white shampoo bottle, and place the green bottle with indented base upright.",
+    "Have the right arm grasp the bottle with white printed label, avoid the white shampoo bottle while moving, and set the bottle with white printed label upright.",
+    "Take the green bottle with indented base up, skirt the white bottle with golden accents, and put the green bottle with indented base down upright.",
+    "With the right arm, lift the smooth green bottle, keep it away from the bottle with yellow cap, place the smooth green bottle upright.",
+    "Use the right arm to grab the medium green bottle with capped neck, carry it away from the shampoo bottle, set the medium green bottle with capped neck upright.",
+    "With the right arm, take the smooth green plastic bottle up, steer past the medium shampoo container, and place the smooth green plastic bottle upright.",
+    "Lift the medium green bottle, route its path away from the bottle for shampoo with glossy finish, then set the medium green bottle upright.",
+    "Grab the smooth green plastic bottle, keep it away from the hand-held shampoo bottle, and put the smooth green plastic bottle down upright.",
+    "Take the green bottle with indented base, route it away from the shampoo bottle with rectangular base, and place the green bottle with indented base upright.",
+    "Pick the bottle with ridges near base up, keep its path clear of the medium shampoo container, place the bottle with ridges near base upright.",
+    "Using the right arm, grasp the handheld green bottle, move it past the white shampoo bottle with golden top, then stand the handheld green bottle up.",
+    "Pick up the smooth green bottle with the right arm, keep it away from the bottle with yellow cap, place the smooth green bottle upright.",
+    "Use the right arm to lift the handheld green bottle, avoid the white shampoo bottle with golden top en route, and stand the handheld green bottle up.",
+    "Guide the right arm to take the plastic bottle, bypass the smooth shampoo container, and place the plastic bottle upright.",
+    "Move the medium green bottle from its spot, skirt the white shampoo bottle, and stand the medium green bottle upright.",
+    "Grab the bottle with rounded neck, steer it around the plastic shampoo bottle with smooth surface, and place the bottle with rounded neck upright.",
+    "Grab the smooth green bottle, carry it around the plastic shampoo bottle with smooth surface, then stand the smooth green bottle upright.",
+    "Using the right arm, lift the handheld green bottle, keep clear of the white shampoo bottle with golden top, and place the handheld green bottle upright.",
+    "Direct the right arm to pick the bottle with rounded neck up, avoid the white shampoo bottle with golden top, and stand the bottle with rounded neck upright.",
+    "Lift the handheld green bottle, route it around the white shampoo bottle with golden top, then set the handheld green bottle upright.",
+    "Using the right arm, pick the green bottle with indented base up, keep clear of the bottle with yellow cap, place the green bottle with indented base upright.",
+    "Lift the medium green bottle with capped neck, keep its path away from the plastic shampoo bottle with smooth surface, and set the medium green bottle with capped neck upright.",
+    "With the right arm, secure the medium green bottle, pass around the hand-held shampoo bottle, and set the medium green bottle upright.",
+    "Grab the green bottle with indented base, avoid the bottle with yellow cap while moving, then place the green bottle with indented base upright.",
+    "Use the right arm, raise the bottle with ridges near base, keep distance from the smooth shampoo container, then place the bottle with ridges near base upright.",
+    "Grab the handheld green bottle, keep it from the bottle for shampoo with glossy finish, and set the handheld green bottle upright.",
+    "With the right arm, take the bottle with ridges near base, pass outside the rectangular shampoo bottle with rounded top, and put the bottle with ridges near base upright.",
+    "Take the bottle with narrow top, move it without nearing the hand-held shampoo bottle, and stand the bottle with narrow top upright.",
+    "Grip the smooth green plastic bottle with the right arm, keep distance from the hand-held shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Pick up the plastic bottle, route it around the white bottle with golden accents, then stand the plastic bottle upright.",
+    "Pick up the green bottle with indented base, swing wide around the hand-held shampoo bottle, and set the green bottle with indented base upright.",
+    "Lift the medium green bottle with capped neck, guide it around the shampoo bottle with rectangular base, then stand the medium green bottle with capped neck upright.",
+    "With the right arm, pick up the medium-sized green bottle, steer away from the shampoo bottle, and stand the medium-sized green bottle up.",
+    "Grab the handheld green bottle, move it without crossing the bottle with yellow cap, then place the handheld green bottle upright.",
+    "Using the right arm, lift the medium green bottle with capped neck, pass clear of the bottle for shampoo with glossy finish, then place the medium green bottle with capped neck upright.",
+    "With the right arm, pick the plastic bottle up, avoid the white shampoo bottle with golden top, and put the plastic bottle upright.",
+    "Lift the handheld green bottle, keep its path clear of the white shampoo bottle, then set the handheld green bottle upright.",
+    "Use the right arm to pick the bottle with ridges near base up, avoid the rectangular shampoo bottle with rounded top, and place the bottle with ridges near base upright.",
+    "Move the medium green bottle with capped neck away from the shampoo bottle as you lift, then place the medium green bottle with capped neck upright.",
+    "With the right arm, take the bottle with ridges near base, avoid the bottle with yellow cap while moving, and set the bottle with ridges near base upright.",
+    "Take the smooth green plastic bottle, keep clear of the white shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Have the right arm grasp the bottle with ridges near base, avoid the bottle for shampoo with glossy finish while moving, and set the bottle with ridges near base upright.",
+    "Take the smooth green bottle up, skirt the hand-held shampoo bottle, and put the smooth green bottle down upright.",
+    "With the right arm, lift the plastic bottle, keep it away from the smooth shampoo container, place the plastic bottle upright.",
+    "Use the right arm to grab the handheld green bottle, carry it away from the plastic shampoo bottle with smooth surface, set the handheld green bottle upright.",
+    "With the right arm, take the plastic bottle up, steer past the smooth shampoo container, and place the plastic bottle upright."
+  ],
+  "unseen": [
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the white plastic shampoo bottle, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode2.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc2c25c619494d1d8222585b1eded80cb827210
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with white neck and red top, route it around the plastic shampoo bottle with black pump, then set the bottle with white neck and red top upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the hand-sized pink shampoo container, place the long thin bottle upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the pink bottle with black dispenser while moving, and set the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the rectangular pink shampoo container, then stand the red-capped bottle up.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the pink bottle with black dispenser, and place the smooth bottle with red lid upright.",
+    "Grab the red-capped bottle, keep it from the rectangular pink bottle with dispenser, and set the red-capped bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the hand-sized pink shampoo container, and place the Coca-Cola bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the shampoo bottle with shiny pink body while moving, then place the bottle with white neck and red top upright.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo bottle with shiny pink body, then stand the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, move it without crossing the shampoo bottle with rectangular shape, then place the long thin bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the shampoo bottle with shiny pink body, and put the long thin bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the rectangular pink bottle with dispenser, and put the Coca-Cola bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the shampoo bottle with rectangular shape, then place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the dark drink bottle with logo, keep clear of the hand-sized pink shampoo container, and place the dark drink bottle with logo upright.",
+    "Take the long thin bottle, move it without nearing the plastic shampoo bottle with black pump, and stand the long thin bottle upright.",
+    "Take the long thin bottle up, skirt the plastic shampoo bottle with black pump, and put the long thin bottle down upright.",
+    "Grab the medium dark brown bottle, carry it around the medium pink bottle for shampoo, then stand the medium dark brown bottle upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the hand-sized pink shampoo container, and stand the Coca-Cola bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the pink bottle with narrow top, then set the red-capped bottle upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the shampoo bottle with rectangular shape, place the long thin bottle upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the hand-sized pink shampoo container, and place the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, route its path away from the smooth pink plastic shampoo bottle, then set the medium dark brown bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the hand-sized pink shampoo container, and set the smooth bottle with red lid upright.",
+    "Move the brown bottle with red label away from the medium pink bottle for shampoo as you lift, then place the brown bottle with red label upright.",
+    "With the left arm, lift the plastic drink bottle, keep it away from the pink shampoo bottle, place the plastic drink bottle upright.",
+    "Use the left arm, raise the red-capped bottle, keep distance from the pink bottle with black dispenser, then place the red-capped bottle upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the shampoo bottle with shiny pink body, and place the bottle with white neck and red top upright.",
+    "Move the plastic drink bottle from its spot, skirt the plastic shampoo bottle with black pump, and stand the plastic drink bottle upright.",
+    "With the left arm, take the long thin bottle, avoid the medium pink bottle for shampoo while moving, and set the long thin bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the smooth pink plastic shampoo bottle, and stand the medium dark brown bottle up.",
+    "Grab the dark drink bottle with logo, keep it away from the rectangular pink shampoo container, and put the dark drink bottle with logo down upright.",
+    "Take the narrow-necked bottle, keep clear of the rectangular pink shampoo container, and place the narrow-necked bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the pink bottle with narrow top, then stand the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the pink shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Use the left arm to grab the long thin bottle, carry it away from the smooth pink plastic shampoo bottle, set the long thin bottle upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the pink bottle with narrow top, place the Coca-Cola bottle upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the pink shampoo bottle en route, and stand the narrow-necked bottle up.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the shampoo bottle with rectangular shape, then set the smooth bottle with red lid upright.",
+    "With the left arm, secure the long thin bottle, pass around the medium pink bottle for shampoo, and set the long thin bottle upright.",
+    "Grab the bottle with ridges on bottom, steer it around the pink bottle with narrow top, and place the bottle with ridges on bottom upright.",
+    "Lift the smooth bottle with red lid, route it around the smooth pink plastic shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Pick up the narrow-necked bottle with the left arm, keep it away from the medium pink bottle for shampoo, place the narrow-necked bottle upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the rectangular pink bottle with dispenser while moving, and set the brown bottle with red label upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the smooth pink plastic shampoo bottle, then stand the smooth bottle with red lid up.",
+    "Use the left arm to pick the bottle with ridges on bottom up, avoid the hand-sized pink shampoo container, and place the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, keep it from the pink bottle with narrow top, and set the hand-sized soda bottle upright.",
+    "Take the plastic drink bottle, route it away from the pink shampoo container with pump top, and place the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, avoid the pink shampoo container with pump top while moving, then place the plastic drink bottle upright.",
+    "Pick up the red-capped bottle, route it around the medium pink bottle for shampoo, then stand the red-capped bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the plastic shampoo bottle with black pump, then place the plastic drink bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the rectangular pink shampoo container, and put the long thin bottle upright.",
+    "With the left arm, take the medium dark brown bottle, pass outside the rectangular pink shampoo container, and put the medium dark brown bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the pink shampoo container with pump top, then place the brown bottle with red label upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the pink shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle, move it without nearing the rectangular pink shampoo container, and stand the medium dark brown bottle upright.",
+    "Take the plastic drink bottle up, skirt the rectangular pink shampoo container, and put the plastic drink bottle down upright.",
+    "Grab the brown bottle with red label, carry it around the medium pink bottle for shampoo, then stand the brown bottle with red label upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the plastic shampoo bottle with black pump, and stand the hand-sized soda bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the pink bottle with black dispenser, then set the hand-sized soda bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the pink bottle with narrow top, place the brown bottle with red label upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the rectangular pink shampoo container, and place the red-capped bottle upright.",
+    "Lift the Coca-Cola bottle, route its path away from the shampoo bottle with rectangular shape, then set the Coca-Cola bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the medium pink bottle for shampoo, and set the red-capped bottle upright.",
+    "Move the dark drink bottle with logo away from the shampoo bottle with shiny pink body as you lift, then place the dark drink bottle with logo upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the shampoo bottle with shiny pink body, place the Coca-Cola bottle upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the pink bottle with black dispenser, then place the dark drink bottle with logo upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the rectangular pink bottle with dispenser, and place the medium dark brown bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the smooth pink plastic shampoo bottle, and stand the plastic drink bottle upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the plastic shampoo bottle with black pump while moving, and set the medium dark brown bottle upright.",
+    "With the left arm, pick up the bottle with ridges on bottom, steer away from the smooth pink plastic shampoo bottle, and stand the bottle with ridges on bottom up.",
+    "Grab the bottle with white neck and red top, keep it away from the pink shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Take the dark drink bottle with logo, keep clear of the pink shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Lift the brown bottle with red label, guide it around the shampoo bottle with shiny pink body, then stand the brown bottle with red label upright.",
+    "Lift the plastic drink bottle, keep its path away from the hand-sized pink shampoo container, and set the plastic drink bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the shampoo bottle with rectangular shape, set the bottle with white neck and red top upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the plastic shampoo bottle with black pump, place the Coca-Cola bottle upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the plastic shampoo bottle with black pump en route, and stand the bottle with ridges on bottom up.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the shampoo bottle with rectangular shape, then set the plastic drink bottle upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the smooth pink plastic shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Grab the medium dark brown bottle, steer it around the plastic shampoo bottle with black pump, and place the medium dark brown bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the hand-sized pink shampoo container, then set the hand-sized soda bottle upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the rectangular pink bottle with dispenser, place the smooth bottle with red lid upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the shampoo bottle with shiny pink body while moving, and set the narrow-necked bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the smooth pink plastic shampoo bottle, then stand the medium dark brown bottle up.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the rectangular pink shampoo container, and place the brown bottle with red label upright.",
+    "Grab the red-capped bottle, keep it from the pink bottle with narrow top, and set the red-capped bottle upright.",
+    "Take the medium dark brown bottle, route it away from the plastic shampoo bottle with black pump, and place the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, avoid the smooth pink plastic shampoo bottle while moving, then place the plastic drink bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the smooth pink plastic shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the plastic shampoo bottle with black pump, then place the bottle with white neck and red top upright.",
+    "With the left arm, pick the long thin bottle up, avoid the rectangular pink bottle with dispenser, and put the long thin bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the shampoo bottle with shiny pink body, and put the bottle with white neck and red top upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the shampoo bottle with shiny pink body, then place the bottle with white neck and red top upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the pink shampoo bottle, and place the red-capped bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the pink shampoo container with pump top, and stand the smooth bottle with red lid upright.",
+    "Take the Coca-Cola bottle up, skirt the pink shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Grab the hand-sized soda bottle, carry it around the plastic shampoo bottle with black pump, then stand the hand-sized soda bottle upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the hand-sized pink shampoo container, and stand the narrow-necked bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the pink bottle with black dispenser, then set the red-capped bottle upright.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the plastic shampoo bottle with black pump, place the bottle with white neck and red top upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the plastic pink shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode20.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e992bdab38da11fed9543af53e62cdbb6025aa
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the medium dark brown bottle, keep it away from the bottle light blue rounded shape, place the medium dark brown bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the blue shampoo bottle slender design, place the brown bottle with red label upright.",
+    "Move the narrow-necked bottle from its spot, skirt the shampoo bottle tapered toward cap, and stand the narrow-necked bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the curved light blue shampoo bottle, and stand the plastic drink bottle upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the curved light blue shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the light blue shampoo bottle small size, and place the red-capped bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the light blue shampoo bottle small size, then set the dark drink bottle with logo upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the bottle of shampoo, and place the plastic drink bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the bottle light blue rounded shape, and stand the dark drink bottle with logo up.",
+    "Grab the narrow-necked bottle, carry it around the shampoo bottle tapered toward cap, then stand the narrow-necked bottle upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the small smooth shampoo bottle, then place the narrow-necked bottle upright.",
+    "Using the left arm, grasp the long thin bottle, move it past the curved light blue shampoo bottle, then stand the long thin bottle up.",
+    "With the left arm, take the red-capped bottle, avoid the blue shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the shampoo bottle tapered toward cap, set the narrow-necked bottle upright.",
+    "Move the red-capped bottle away from the hand-sized shampoo bottle as you lift, then place the red-capped bottle upright.",
+    "Grab the long thin bottle, avoid the shampoo bottle flat bottom edge while moving, then place the long thin bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the blue shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the shampoo bottle tapered toward cap, then set the smooth bottle with red lid upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the blue shampoo bottle slender design en route, and stand the bottle with ridges on bottom up.",
+    "Grab the narrow-necked bottle, steer it around the shampoo bottle tapered toward cap, and place the narrow-necked bottle upright.",
+    "With the left arm, take the brown bottle with red label up, steer past the blue shampoo bottle, and place the brown bottle with red label upright.",
+    "Grab the dark drink bottle with logo, keep it from the blue shampoo bottle slender design, and set the dark drink bottle with logo upright.",
+    "Take the brown bottle with red label up, skirt the curved light blue shampoo bottle, and put the brown bottle with red label down upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the bottle light blue rounded shape, and set the Coca-Cola bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the light blue shampoo bottle small size, then stand the smooth bottle with red lid upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the small smooth shampoo bottle, place the Coca-Cola bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle tapered toward cap, and set the narrow-necked bottle upright.",
+    "Take the bottle with white neck and red top, keep clear of the bottle of shampoo, and place the bottle with white neck and red top upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the curved light blue shampoo bottle, place the medium dark brown bottle upright.",
+    "Take the plastic drink bottle, route it away from the bottle of shampoo, and place the plastic drink bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the blue shampoo bottle, then place the narrow-necked bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the bottle of shampoo, and place the hand-sized soda bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the light blue shampoo bottle small size, then set the smooth bottle with red lid upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the hand-sized shampoo bottle, and put the Coca-Cola bottle upright.",
+    "Take the red-capped bottle, move it without nearing the shampoo bottle tapered toward cap, and stand the red-capped bottle upright.",
+    "Lift the brown bottle with red label, guide it around the bottle light blue rounded shape, then stand the brown bottle with red label upright.",
+    "Lift the long thin bottle, route it around the blue shampoo bottle, then set the long thin bottle upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the curved light blue shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the shampoo bottle flat bottom edge while moving, and set the smooth bottle with red lid upright.",
+    "With the left arm, secure the red-capped bottle, pass around the blue shampoo bottle, and set the red-capped bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the shampoo bottle with white cap, place the hand-sized soda bottle upright.",
+    "Using the left arm, pick the bottle with ridges on bottom up, keep clear of the shampoo bottle with matte plastic, place the bottle with ridges on bottom upright.",
+    "Move the long thin bottle from its spot, skirt the blue shampoo bottle slender design, and stand the long thin bottle upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the bottle of shampoo, and stand the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, move it without crossing the shampoo bottle flat bottom edge, then place the medium dark brown bottle upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the blue shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle tapered toward cap, then set the hand-sized soda bottle upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the light blue shampoo bottle small size, and place the dark drink bottle with logo upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the shampoo bottle tapered toward cap, and stand the bottle with white neck and red top up.",
+    "Grab the bottle with ridges on bottom, carry it around the light blue shampoo bottle small size, then stand the bottle with ridges on bottom upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the light blue shampoo bottle small size, then place the Coca-Cola bottle upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the shampoo bottle with white cap, then stand the bottle with ridges on bottom up.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo bottle with white cap while moving, and set the narrow-necked bottle upright.",
+    "Use the left arm to grab the medium dark brown bottle, carry it away from the shampoo bottle tapered toward cap, set the medium dark brown bottle upright.",
+    "Move the plastic drink bottle away from the small smooth shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, avoid the hand-sized shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the shampoo bottle flat bottom edge, and put the medium dark brown bottle down upright.",
+    "Grip the Coca-Cola bottle with the left arm, keep distance from the curved light blue shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the shampoo bottle with matte plastic en route, and stand the smooth bottle with red lid up.",
+    "Grab the narrow-necked bottle, steer it around the hand-sized shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the left arm, take the long thin bottle up, steer past the shampoo bottle flat bottom edge, and place the long thin bottle upright.",
+    "Grab the long thin bottle, keep it from the blue shampoo bottle, and set the long thin bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the shampoo bottle with white cap, and put the hand-sized soda bottle down upright.",
+    "Pick up the red-capped bottle, swing wide around the shampoo bottle flat bottom edge, and set the red-capped bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the bottle light blue rounded shape, then stand the hand-sized soda bottle upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the hand-sized shampoo bottle, place the Coca-Cola bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the curved light blue shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, keep clear of the small smooth shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Pick the red-capped bottle up, keep its path clear of the blue shampoo bottle slender design, place the red-capped bottle upright.",
+    "Take the brown bottle with red label, route it away from the hand-sized shampoo bottle, and place the brown bottle with red label upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the light blue shampoo bottle small size, then place the narrow-necked bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the hand-sized shampoo bottle, and place the red-capped bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the bottle light blue rounded shape, then set the dark drink bottle with logo upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the bottle light blue rounded shape, and put the dark drink bottle with logo upright.",
+    "Take the plastic drink bottle, move it without nearing the hand-sized shampoo bottle, and stand the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the hand-sized shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Lift the smooth bottle with red lid, route it around the shampoo bottle tapered toward cap, then set the smooth bottle with red lid upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the curved light blue shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the shampoo bottle tapered toward cap while moving, and set the dark drink bottle with logo upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the hand-sized shampoo bottle, and set the bottle with white neck and red top upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the shampoo bottle tapered toward cap, place the medium dark brown bottle upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the shampoo bottle tapered toward cap, place the long thin bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the light blue shampoo bottle small size, and stand the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the shampoo bottle with matte plastic, and stand the long thin bottle upright.",
+    "Grab the red-capped bottle, move it without crossing the curved light blue shampoo bottle, then place the red-capped bottle upright.",
+    "Guide the left arm to take the plastic drink bottle, bypass the shampoo bottle tapered toward cap, and place the plastic drink bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the blue shampoo bottle slender design, then set the narrow-necked bottle upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the shampoo bottle flat bottom edge, and place the narrow-necked bottle upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the shampoo bottle tapered toward cap, and stand the brown bottle with red label up.",
+    "Grab the brown bottle with red label, carry it around the shampoo bottle flat bottom edge, then stand the brown bottle with red label upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the shampoo bottle tapered toward cap, then place the long thin bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the hand-sized shampoo bottle, then stand the medium dark brown bottle up.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo bottle flat bottom edge while moving, and set the narrow-necked bottle upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the blue shampoo bottle slender design, set the bottle with ridges on bottom upright.",
+    "Move the medium dark brown bottle away from the small smooth shampoo bottle as you lift, then place the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the small smooth shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, keep it away from the blue shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Grip the medium dark brown bottle with the left arm, keep distance from the blue shampoo bottle slender design, then set the medium dark brown bottle upright.",
+    "Use the left arm to lift the red-capped bottle, avoid the shampoo bottle with white cap en route, and stand the red-capped bottle up.",
+    "Grab the hand-sized soda bottle, steer it around the shampoo bottle with white cap, and place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode21.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..193e298b0ad5b363243b4ecae3dc0cdcfb01af11
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, lift the brown bottle with red label, keep clear of the bottle of shampoo, and place the brown bottle with red label upright.",
+    "Use the right arm to pick the Coca-Cola bottle up, avoid the bottle light blue rounded shape, and place the Coca-Cola bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the blue shampoo bottle slender design, and place the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the Coca-Cola bottle, avoid the blue shampoo bottle while moving, and set the Coca-Cola bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the light blue shampoo bottle small size, then set the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the curved light blue shampoo bottle, then place the hand-sized soda bottle upright.",
+    "With the right arm, take the smooth bottle with red lid, pass outside the shampoo bottle flat bottom edge, and put the smooth bottle with red lid upright.",
+    "Move the bottle with ridges on bottom away from the hand-sized shampoo bottle as you lift, then place the bottle with ridges on bottom upright.",
+    "Move the plastic drink bottle from its spot, skirt the blue shampoo bottle slender design, and stand the plastic drink bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the curved light blue shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "With the right arm, take the bottle with ridges on bottom, avoid the light blue shampoo bottle small size while moving, and set the bottle with ridges on bottom upright.",
+    "Lift the dark drink bottle with logo, route its path away from the bottle of shampoo, then set the dark drink bottle with logo upright.",
+    "Using the right arm, pick the brown bottle with red label up, keep clear of the curved light blue shampoo bottle, place the brown bottle with red label upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the curved light blue shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle flat bottom edge, and put the narrow-necked bottle down upright.",
+    "Lift the narrow-necked bottle, keep its path away from the bottle of shampoo, and set the narrow-necked bottle upright.",
+    "Lift the brown bottle with red label, guide it around the hand-sized shampoo bottle, then stand the brown bottle with red label upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the hand-sized shampoo bottle, then set the narrow-necked bottle upright.",
+    "Pick up the brown bottle with red label with the right arm, keep it away from the bottle of shampoo, place the brown bottle with red label upright.",
+    "Grab the smooth bottle with red lid, steer it around the shampoo bottle with white cap, and place the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle, move it without nearing the curved light blue shampoo bottle, and stand the medium dark brown bottle upright.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the shampoo bottle with matte plastic, and put the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, avoid the blue shampoo bottle while moving, then place the plastic drink bottle upright.",
+    "With the right arm, take the plastic drink bottle up, steer past the shampoo bottle flat bottom edge, and place the plastic drink bottle upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the curved light blue shampoo bottle, place the dark drink bottle with logo upright.",
+    "Using the right arm, lift the narrow-necked bottle, pass clear of the shampoo bottle with matte plastic, then place the narrow-necked bottle upright.",
+    "Using the right arm, grasp the dark drink bottle with logo, move it past the blue shampoo bottle slender design, then stand the dark drink bottle with logo up.",
+    "With the right arm, lift the smooth bottle with red lid, keep it away from the hand-sized shampoo bottle, place the smooth bottle with red lid upright.",
+    "Grab the Coca-Cola bottle, carry it around the bottle light blue rounded shape, then stand the Coca-Cola bottle upright.",
+    "Grip the dark drink bottle with logo with the right arm, keep distance from the shampoo bottle flat bottom edge, then set the dark drink bottle with logo upright.",
+    "With the right arm, pick up the smooth bottle with red lid, steer away from the small smooth shampoo bottle, and stand the smooth bottle with red lid up.",
+    "With the right arm, secure the hand-sized soda bottle, pass around the blue shampoo bottle slender design, and set the hand-sized soda bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the hand-sized shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Grab the Coca-Cola bottle, keep it from the blue shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Guide the right arm to take the long thin bottle, bypass the blue shampoo bottle, and place the long thin bottle upright.",
+    "Direct the right arm to pick the medium dark brown bottle up, avoid the curved light blue shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Take the long thin bottle, route it away from the hand-sized shampoo bottle, and place the long thin bottle upright.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the shampoo bottle with white cap, set the dark drink bottle with logo upright.",
+    "Use the right arm to lift the plastic drink bottle, avoid the blue shampoo bottle en route, and stand the plastic drink bottle up.",
+    "Use the right arm, raise the smooth bottle with red lid, keep distance from the curved light blue shampoo bottle, then place the smooth bottle with red lid upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the shampoo bottle flat bottom edge, and place the brown bottle with red label upright.",
+    "Use the right arm to pick the medium dark brown bottle up, avoid the hand-sized shampoo bottle, and place the medium dark brown bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the light blue shampoo bottle small size, and place the dark drink bottle with logo upright.",
+    "Have the right arm grasp the dark drink bottle with logo, avoid the bottle light blue rounded shape while moving, and set the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, route it around the small smooth shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Grab the long thin bottle, move it without crossing the shampoo bottle with matte plastic, then place the long thin bottle upright.",
+    "With the right arm, take the dark drink bottle with logo, pass outside the shampoo bottle with matte plastic, and put the dark drink bottle with logo upright.",
+    "Move the hand-sized soda bottle away from the blue shampoo bottle slender design as you lift, then place the hand-sized soda bottle upright.",
+    "Move the narrow-necked bottle from its spot, skirt the blue shampoo bottle slender design, and stand the narrow-necked bottle upright.",
+    "Take the plastic drink bottle up, skirt the blue shampoo bottle, and put the plastic drink bottle down upright.",
+    "With the right arm, take the narrow-necked bottle, avoid the blue shampoo bottle slender design while moving, and set the narrow-necked bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the curved light blue shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Using the right arm, pick the narrow-necked bottle up, keep clear of the shampoo bottle flat bottom edge, place the narrow-necked bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the bottle light blue rounded shape, and set the narrow-necked bottle upright.",
+    "Grab the brown bottle with red label, keep it away from the light blue shampoo bottle small size, and put the brown bottle with red label down upright.",
+    "Lift the plastic drink bottle, keep its path away from the blue shampoo bottle slender design, and set the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the hand-sized shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the shampoo bottle with white cap, then set the medium dark brown bottle upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the shampoo bottle tapered toward cap, place the hand-sized soda bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the shampoo bottle with white cap, and place the medium dark brown bottle upright.",
+    "Take the hand-sized soda bottle, move it without nearing the bottle of shampoo, and stand the hand-sized soda bottle upright.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the shampoo bottle flat bottom edge, and put the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the blue shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "With the right arm, take the medium dark brown bottle up, steer past the shampoo bottle with white cap, and place the medium dark brown bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the shampoo bottle with white cap, place the medium dark brown bottle upright.",
+    "Using the right arm, lift the red-capped bottle, pass clear of the shampoo bottle flat bottom edge, then place the red-capped bottle upright.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the blue shampoo bottle, then stand the hand-sized soda bottle up.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the blue shampoo bottle slender design, place the dark drink bottle with logo upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle tapered toward cap, then stand the bottle with ridges on bottom upright.",
+    "Grip the narrow-necked bottle with the right arm, keep distance from the shampoo bottle with matte plastic, then set the narrow-necked bottle upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the light blue shampoo bottle small size, and stand the dark drink bottle with logo up.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the shampoo bottle with matte plastic, and set the bottle with white neck and red top upright.",
+    "Pick up the red-capped bottle, route it around the shampoo bottle with white cap, then stand the red-capped bottle upright.",
+    "Grab the plastic drink bottle, keep it from the bottle of shampoo, and set the plastic drink bottle upright.",
+    "Guide the right arm to take the plastic drink bottle, bypass the shampoo bottle tapered toward cap, and place the plastic drink bottle upright.",
+    "Direct the right arm to pick the medium dark brown bottle up, avoid the light blue shampoo bottle small size, and stand the medium dark brown bottle upright.",
+    "Take the medium dark brown bottle, route it away from the shampoo bottle with white cap, and place the medium dark brown bottle upright.",
+    "Use the right arm to grab the bottle with ridges on bottom, carry it away from the light blue shampoo bottle small size, set the bottle with ridges on bottom upright.",
+    "Use the right arm to lift the long thin bottle, avoid the light blue shampoo bottle small size en route, and stand the long thin bottle up.",
+    "Use the right arm, raise the bottle with white neck and red top, keep distance from the bottle light blue rounded shape, then place the bottle with white neck and red top upright.",
+    "Using the right arm, lift the Coca-Cola bottle, keep clear of the light blue shampoo bottle small size, and place the Coca-Cola bottle upright.",
+    "Use the right arm to pick the hand-sized soda bottle up, avoid the shampoo bottle with white cap, and place the hand-sized soda bottle upright.",
+    "Take the bottle with white neck and red top, keep clear of the small smooth shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Have the right arm grasp the smooth bottle with red lid, avoid the blue shampoo bottle while moving, and set the smooth bottle with red lid upright.",
+    "Lift the hand-sized soda bottle, route it around the light blue shampoo bottle small size, then set the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the blue shampoo bottle slender design, then place the dark drink bottle with logo upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the hand-sized shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Move the narrow-necked bottle away from the shampoo bottle with white cap as you lift, then place the narrow-necked bottle upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the bottle light blue rounded shape, and stand the bottle with ridges on bottom upright.",
+    "Take the smooth bottle with red lid up, skirt the light blue shampoo bottle small size, and put the smooth bottle with red lid down upright.",
+    "With the right arm, take the red-capped bottle, avoid the hand-sized shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the bottle of shampoo, then set the medium dark brown bottle upright.",
+    "Using the right arm, pick the plastic drink bottle up, keep clear of the small smooth shampoo bottle, place the plastic drink bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the hand-sized shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, keep it away from the shampoo bottle with white cap, and put the red-capped bottle down upright.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle flat bottom edge, and set the narrow-necked bottle upright.",
+    "Lift the long thin bottle, guide it around the blue shampoo bottle, then stand the long thin bottle upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the bottle of shampoo, then set the medium dark brown bottle upright.",
+    "Pick up the dark drink bottle with logo with the right arm, keep it away from the shampoo bottle with matte plastic, place the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, steer it around the light blue shampoo bottle small size, and place the red-capped bottle upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode22.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6d1b1e9add8e55d082597b20f8f0e7626a7865f
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the green bottle with indented base, carry it away from the bottle with smooth surface, set the green bottle with indented base upright.",
+    "Take the bottle with rounded neck, keep clear of the plastic shampoo with orange label, and place the bottle with rounded neck upright.",
+    "Grab the medium green bottle, carry it around the bottle with smooth surface, then stand the medium green bottle upright.",
+    "Grab the bottle with white printed label, keep it from the white shampoo bottle, and set the bottle with white printed label upright.",
+    "Move the handheld green bottle away from the medium-sized white plastic shampoo as you lift, then place the handheld green bottle upright.",
+    "With the left arm, take the medium green bottle, avoid the plastic shampoo bottle while moving, and set the medium green bottle upright.",
+    "Using the left arm, lift the plastic bottle, keep clear of the shampoo bottle with curved sides, and place the plastic bottle upright.",
+    "Pick up the medium green bottle, route it around the plastic shampoo bottle, then stand the medium green bottle upright.",
+    "With the left arm, take the green bottle with indented base, pass outside the white and blue shampoo container, and put the green bottle with indented base upright.",
+    "With the left arm, pick up the bottle with ridges near base, steer away from the white and blue shampoo container, and stand the bottle with ridges near base up.",
+    "Using the left arm, lift the bottle with narrow top, pass clear of the plastic shampoo with orange label, then place the bottle with narrow top upright.",
+    "Grab the green bottle with indented base, move it without crossing the shampoo bottle with curved sides, then place the green bottle with indented base upright.",
+    "Grab the handheld green bottle, avoid the shampoo bottle with blue cap while moving, then place the handheld green bottle upright.",
+    "Guide the left arm to take the green bottle with indented base, bypass the blue top shampoo bottle, and place the green bottle with indented base upright.",
+    "Use the left arm to lift the green bottle with indented base, avoid the white shampoo bottle en route, and stand the green bottle with indented base up.",
+    "Pick the bottle with ridges near base up, keep its path clear of the curved shampoo bottle, place the bottle with ridges near base upright.",
+    "Lift the bottle with ridges near base, route it around the medium-sized white plastic shampoo, then set the bottle with ridges near base upright.",
+    "Lift the plastic bottle, guide it around the shampoo bottle with blue cap, then stand the plastic bottle upright.",
+    "Direct the left arm to pick the medium-sized green bottle up, avoid the plastic shampoo bottle, and stand the medium-sized green bottle upright.",
+    "Lift the bottle with white printed label, keep its path clear of the bottle with hexagonal blue cap, then set the bottle with white printed label upright.",
+    "With the left arm, pick the bottle with rounded neck up, avoid the white shampoo bottle, and put the bottle with rounded neck upright.",
+    "With the left arm, take the bottle with ridges near base up, steer past the bottle with hexagonal blue cap, and place the bottle with ridges near base upright.",
+    "Take the handheld green bottle, route it away from the plastic shampoo bottle, and place the handheld green bottle upright.",
+    "Use the left arm, raise the medium green bottle, keep distance from the medium-sized white plastic shampoo, then place the medium green bottle upright.",
+    "Lift the bottle with narrow top, route its path away from the handheld shampoo container, then set the bottle with narrow top upright.",
+    "Using the left arm, pick the green bottle with indented base up, keep clear of the bottle with smooth surface, place the green bottle with indented base upright.",
+    "Use the left arm to pick the bottle with ridges near base up, avoid the curved shampoo bottle, and place the bottle with ridges near base upright.",
+    "Pick up the smooth green plastic bottle, swing wide around the shampoo bottle with blue cap, and set the smooth green plastic bottle upright.",
+    "Grab the plastic bottle, steer it around the white shampoo bottle, and place the plastic bottle upright.",
+    "Using the left arm, grasp the smooth green plastic bottle, move it past the shampoo bottle with blue cap, then stand the smooth green plastic bottle up.",
+    "Lift the bottle with white printed label, keep its path away from the plastic shampoo with orange label, and set the bottle with white printed label upright.",
+    "Pick up the medium-sized green bottle with the left arm, keep it away from the white and blue shampoo container, place the medium-sized green bottle upright.",
+    "Grab the smooth green bottle, keep it away from the blue top shampoo bottle, and put the smooth green bottle down upright.",
+    "With the left arm, lift the smooth green plastic bottle, keep it away from the shampoo bottle with blue cap, place the smooth green plastic bottle upright.",
+    "Have the left arm grasp the smooth green plastic bottle, avoid the bottle with smooth surface while moving, and set the smooth green plastic bottle upright.",
+    "Grip the green bottle with indented base with the left arm, keep distance from the plastic shampoo with orange label, then set the green bottle with indented base upright.",
+    "Take the medium green bottle with capped neck up, skirt the medium-sized white plastic shampoo, and put the medium green bottle with capped neck down upright.",
+    "Take the plastic bottle, move it without nearing the shampoo bottle with blue cap, and stand the plastic bottle upright.",
+    "With the left arm, secure the medium green bottle, pass around the shampoo bottle with blue cap, and set the medium green bottle upright.",
+    "Move the bottle with rounded neck from its spot, skirt the bottle with smooth surface, and stand the bottle with rounded neck upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the shampoo bottle with blue cap, set the bottle with white printed label upright.",
+    "Take the green bottle with indented base, keep clear of the medium-sized white plastic shampoo, and place the green bottle with indented base upright.",
+    "Grab the bottle with ridges near base, carry it around the shampoo bottle with blue cap, then stand the bottle with ridges near base upright.",
+    "Grab the medium green bottle, keep it from the shampoo bottle with blue cap, and set the medium green bottle upright.",
+    "Move the medium green bottle with capped neck away from the bottle with hexagonal blue cap as you lift, then place the medium green bottle with capped neck upright.",
+    "With the left arm, take the bottle with rounded neck, avoid the bottle with smooth surface while moving, and set the bottle with rounded neck upright.",
+    "Using the left arm, lift the plastic bottle, keep clear of the blue top shampoo bottle, and place the plastic bottle upright.",
+    "Pick up the bottle with narrow top, route it around the white shampoo bottle, then stand the bottle with narrow top upright.",
+    "With the left arm, take the medium green bottle with capped neck, pass outside the bottle with smooth surface, and put the medium green bottle with capped neck upright.",
+    "With the left arm, pick up the bottle with ridges near base, steer away from the bottle with hexagonal blue cap, and stand the bottle with ridges near base up.",
+    "Using the left arm, lift the handheld green bottle, pass clear of the bottle with smooth surface, then place the handheld green bottle upright.",
+    "Grab the bottle with narrow top, move it without crossing the shampoo bottle with blue cap, then place the bottle with narrow top upright.",
+    "Grab the plastic bottle, avoid the bottle with hexagonal blue cap while moving, then place the plastic bottle upright.",
+    "Guide the left arm to take the medium-sized green bottle, bypass the plastic shampoo with orange label, and place the medium-sized green bottle upright.",
+    "Use the left arm to lift the smooth green plastic bottle, avoid the bottle with smooth surface en route, and stand the smooth green plastic bottle up.",
+    "Pick the medium-sized green bottle up, keep its path clear of the bottle with hexagonal blue cap, place the medium-sized green bottle upright.",
+    "Lift the medium-sized green bottle, route it around the plastic shampoo with orange label, then set the medium-sized green bottle upright.",
+    "Lift the bottle with rounded neck, guide it around the bottle with hexagonal blue cap, then stand the bottle with rounded neck upright.",
+    "Direct the left arm to pick the medium green bottle up, avoid the handheld shampoo container, and stand the medium green bottle upright.",
+    "Lift the bottle with white printed label, keep its path clear of the curved shampoo bottle, then set the bottle with white printed label upright.",
+    "With the left arm, pick the bottle with ridges near base up, avoid the white and blue shampoo container, and put the bottle with ridges near base upright.",
+    "With the left arm, take the green bottle with indented base up, steer past the handheld shampoo container, and place the green bottle with indented base upright.",
+    "Take the handheld green bottle, route it away from the curved shampoo bottle, and place the handheld green bottle upright.",
+    "Use the left arm, raise the bottle with white printed label, keep distance from the plastic shampoo with orange label, then place the bottle with white printed label upright.",
+    "Lift the plastic bottle, route its path away from the shampoo bottle with blue cap, then set the plastic bottle upright.",
+    "Using the left arm, pick the medium green bottle up, keep clear of the handheld shampoo container, place the medium green bottle upright.",
+    "Use the left arm to pick the handheld green bottle up, avoid the blue top shampoo bottle, and place the handheld green bottle upright.",
+    "Pick up the bottle with rounded neck, swing wide around the medium-sized white plastic shampoo, and set the bottle with rounded neck upright.",
+    "Grab the medium green bottle, steer it around the medium-sized white plastic shampoo, and place the medium green bottle upright.",
+    "Using the left arm, grasp the green bottle with indented base, move it past the plastic shampoo bottle, then stand the green bottle with indented base up.",
+    "Lift the green bottle with indented base, keep its path away from the blue top shampoo bottle, and set the green bottle with indented base upright.",
+    "Pick up the green bottle with indented base with the left arm, keep it away from the white shampoo bottle, place the green bottle with indented base upright.",
+    "Grab the medium-sized green bottle, keep it away from the shampoo bottle with curved sides, and put the medium-sized green bottle down upright.",
+    "With the left arm, lift the medium green bottle with capped neck, keep it away from the white shampoo bottle, place the medium green bottle with capped neck upright.",
+    "Have the left arm grasp the bottle with rounded neck, avoid the shampoo bottle with curved sides while moving, and set the bottle with rounded neck upright.",
+    "Grip the medium green bottle with the left arm, keep distance from the medium-sized white plastic shampoo, then set the medium green bottle upright.",
+    "Take the green bottle with indented base up, skirt the shampoo bottle with curved sides, and put the green bottle with indented base down upright.",
+    "Take the handheld green bottle, move it without nearing the plastic shampoo bottle, and stand the handheld green bottle upright.",
+    "With the left arm, secure the plastic bottle, pass around the blue top shampoo bottle, and set the plastic bottle upright.",
+    "Move the medium green bottle from its spot, skirt the shampoo bottle with blue cap, and stand the medium green bottle upright.",
+    "Use the left arm to grab the bottle with ridges near base, carry it away from the curved shampoo bottle, set the bottle with ridges near base upright.",
+    "Take the green bottle with indented base, keep clear of the bottle with smooth surface, and place the green bottle with indented base upright.",
+    "Grab the bottle with white printed label, carry it around the bottle with hexagonal blue cap, then stand the bottle with white printed label upright.",
+    "Grab the medium green bottle, keep it from the bottle with hexagonal blue cap, and set the medium green bottle upright.",
+    "Move the bottle with ridges near base away from the white and blue shampoo container as you lift, then place the bottle with ridges near base upright.",
+    "With the left arm, take the bottle with ridges near base, avoid the plastic shampoo bottle while moving, and set the bottle with ridges near base upright.",
+    "Using the left arm, lift the handheld green bottle, keep clear of the medium-sized white plastic shampoo, and place the handheld green bottle upright.",
+    "Pick up the medium green bottle, route it around the plastic shampoo bottle, then stand the medium green bottle upright.",
+    "With the left arm, take the medium green bottle, pass outside the handheld shampoo container, and put the medium green bottle upright.",
+    "With the left arm, pick up the medium-sized green bottle, steer away from the white shampoo bottle, and stand the medium-sized green bottle up.",
+    "Using the left arm, lift the bottle with narrow top, pass clear of the bottle with smooth surface, then place the bottle with narrow top upright.",
+    "Grab the bottle with ridges near base, move it without crossing the shampoo bottle with curved sides, then place the bottle with ridges near base upright.",
+    "Grab the medium green bottle, avoid the white and blue shampoo container while moving, then place the medium green bottle upright.",
+    "Guide the left arm to take the bottle with rounded neck, bypass the white shampoo bottle, and place the bottle with rounded neck upright.",
+    "Use the left arm to lift the handheld green bottle, avoid the shampoo bottle with blue cap en route, and stand the handheld green bottle up.",
+    "Pick the bottle with narrow top up, keep its path clear of the white shampoo bottle, place the bottle with narrow top upright.",
+    "Lift the medium green bottle with capped neck, route it around the blue top shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "Lift the bottle with ridges near base, guide it around the shampoo bottle with blue cap, then stand the bottle with ridges near base upright.",
+    "Direct the left arm to pick the bottle with rounded neck up, avoid the handheld shampoo container, and stand the bottle with rounded neck upright.",
+    "Lift the bottle with narrow top, keep its path clear of the curved shampoo bottle, then set the bottle with narrow top upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the white shampoo with orange design, then set the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the blue-capped shampoo bottle, and place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the blue-capped shampoo bottle, and place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the white shampoo with orange design, then set the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, then set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode23.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2fec9c82256e8d837890dce28a567eb37b8b165
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the long thin bottle up, keep its path clear of the medium pink bottle for shampoo, place the long thin bottle upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the pink bottle with black dispenser, then stand the narrow-necked bottle up.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the rectangular pink shampoo container, and stand the hand-sized soda bottle up.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the medium pink bottle for shampoo, place the dark drink bottle with logo upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the medium pink bottle for shampoo, then place the smooth bottle with red lid upright.",
+    "Grab the brown bottle with red label, steer it around the pink bottle with narrow top, and place the brown bottle with red label upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the shampoo bottle with rectangular shape while moving, and set the medium dark brown bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the pink bottle with black dispenser, then set the dark drink bottle with logo upright.",
+    "Take the Coca-Cola bottle, move it without nearing the rectangular pink bottle with dispenser, and stand the Coca-Cola bottle upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the shampoo bottle with shiny pink body, and place the bottle with white neck and red top upright.",
+    "Pick up the narrow-necked bottle, route it around the pink shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Move the smooth bottle with red lid away from the shampoo bottle with shiny pink body as you lift, then place the smooth bottle with red lid upright.",
+    "Take the bottle with white neck and red top, route it away from the smooth pink plastic shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the medium pink bottle for shampoo, and stand the hand-sized soda bottle upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle with rectangular shape, place the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the pink bottle with black dispenser, and place the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, avoid the rectangular pink shampoo container while moving, then place the bottle with white neck and red top upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the medium pink bottle for shampoo, then place the hand-sized soda bottle upright.",
+    "Grab the red-capped bottle, keep it from the shampoo bottle with shiny pink body, and set the red-capped bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the pink bottle with black dispenser, place the red-capped bottle upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the rectangular pink shampoo container, and stand the narrow-necked bottle upright.",
+    "Use the left arm to lift the medium dark brown bottle, avoid the plastic shampoo bottle with black pump en route, and stand the medium dark brown bottle up.",
+    "Grab the plastic drink bottle, carry it around the pink shampoo container with pump top, then stand the plastic drink bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the pink shampoo container with pump top, and place the dark drink bottle with logo upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the pink bottle with narrow top, and set the bottle with white neck and red top upright.",
+    "Take the dark drink bottle with logo up, skirt the hand-sized pink shampoo container, and put the dark drink bottle with logo down upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the pink bottle with narrow top, set the bottle with ridges on bottom upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the pink bottle with narrow top, then set the long thin bottle upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the rectangular pink shampoo container, and place the hand-sized soda bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the medium pink bottle for shampoo while moving, and set the hand-sized soda bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the rectangular pink bottle with dispenser, and put the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, keep its path clear of the rectangular pink shampoo container, then set the red-capped bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the pink shampoo bottle, then place the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the hand-sized pink shampoo container, and put the bottle with white neck and red top down upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the shampoo bottle with rectangular shape, and put the brown bottle with red label upright.",
+    "Lift the narrow-necked bottle, keep its path away from the rectangular pink shampoo container, and set the narrow-necked bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the rectangular pink bottle with dispenser, and set the dark drink bottle with logo upright.",
+    "Lift the Coca-Cola bottle, route it around the smooth pink plastic shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Lift the bottle with ridges on bottom, guide it around the smooth pink plastic shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the pink bottle with black dispenser, and place the dark drink bottle with logo upright.",
+    "Pick the long thin bottle up, keep its path clear of the plastic shampoo bottle with black pump, place the long thin bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the shampoo bottle with shiny pink body, then stand the medium dark brown bottle up.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the rectangular pink bottle with dispenser, and stand the medium dark brown bottle up.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the rectangular pink shampoo container, place the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the hand-sized pink shampoo container, then place the Coca-Cola bottle upright.",
+    "Grab the Coca-Cola bottle, steer it around the medium pink bottle for shampoo, and place the Coca-Cola bottle upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the medium pink bottle for shampoo while moving, and set the dark drink bottle with logo upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the medium pink bottle for shampoo, then set the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle, move it without nearing the shampoo bottle with shiny pink body, and stand the plastic drink bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the pink shampoo container with pump top, and place the red-capped bottle upright.",
+    "Pick up the plastic drink bottle, route it around the rectangular pink bottle with dispenser, then stand the plastic drink bottle upright.",
+    "Move the dark drink bottle with logo away from the smooth pink plastic shampoo bottle as you lift, then place the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, route it away from the shampoo bottle with shiny pink body, and place the hand-sized soda bottle upright.",
+    "Move the red-capped bottle from its spot, skirt the shampoo bottle with shiny pink body, and stand the red-capped bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the plastic shampoo bottle with black pump, place the bottle with white neck and red top upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the medium pink bottle for shampoo, and place the narrow-necked bottle upright.",
+    "Grab the red-capped bottle, avoid the shampoo bottle with shiny pink body while moving, then place the red-capped bottle upright.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the pink bottle with narrow top, then place the plastic drink bottle upright.",
+    "Grab the brown bottle with red label, keep it from the hand-sized pink shampoo container, and set the brown bottle with red label upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the shampoo bottle with shiny pink body, place the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the smooth bottle with red lid up, avoid the plastic shampoo bottle with black pump, and stand the smooth bottle with red lid upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the medium pink bottle for shampoo en route, and stand the bottle with white neck and red top up.",
+    "Grab the plastic drink bottle, carry it around the pink shampoo bottle, then stand the plastic drink bottle upright.",
+    "Take the smooth bottle with red lid, keep clear of the pink shampoo bottle, and place the smooth bottle with red lid upright.",
+    "With the left arm, secure the long thin bottle, pass around the pink shampoo bottle, and set the long thin bottle upright.",
+    "Take the narrow-necked bottle up, skirt the rectangular pink bottle with dispenser, and put the narrow-necked bottle down upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the pink bottle with narrow top, set the bottle with white neck and red top upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the rectangular pink shampoo container, then set the plastic drink bottle upright.",
+    "With the left arm, take the red-capped bottle up, steer past the shampoo bottle with shiny pink body, and place the red-capped bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, avoid the rectangular pink shampoo container while moving, and set the Coca-Cola bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the shampoo bottle with rectangular shape, and put the narrow-necked bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the pink bottle with narrow top, then set the hand-sized soda bottle upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the shampoo bottle with rectangular shape, then place the red-capped bottle upright.",
+    "Grab the long thin bottle, keep it away from the pink shampoo container with pump top, and put the long thin bottle down upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the medium pink bottle for shampoo, and put the plastic drink bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the smooth pink plastic shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Pick up the plastic drink bottle, swing wide around the pink bottle with black dispenser, and set the plastic drink bottle upright.",
+    "Lift the plastic drink bottle, route it around the hand-sized pink shampoo container, then set the plastic drink bottle upright.",
+    "Lift the red-capped bottle, guide it around the hand-sized pink shampoo container, then stand the red-capped bottle upright.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the medium pink bottle for shampoo, and place the smooth bottle with red lid upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the pink bottle with narrow top, place the medium dark brown bottle upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the hand-sized pink shampoo container, then stand the narrow-necked bottle up.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the rectangular pink bottle with dispenser, and stand the brown bottle with red label up.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the shampoo bottle with rectangular shape, place the medium dark brown bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the rectangular pink shampoo container, then place the brown bottle with red label upright.",
+    "Grab the red-capped bottle, steer it around the rectangular pink bottle with dispenser, and place the red-capped bottle upright.",
+    "Have the left arm grasp the long thin bottle, avoid the shampoo bottle with rectangular shape while moving, and set the long thin bottle upright.",
+    "Lift the smooth bottle with red lid, route its path away from the shampoo bottle with shiny pink body, then set the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, move it without nearing the shampoo bottle with shiny pink body, and stand the smooth bottle with red lid upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the rectangular pink bottle with dispenser, and place the Coca-Cola bottle upright.",
+    "Pick up the long thin bottle, route it around the medium pink bottle for shampoo, then stand the long thin bottle upright.",
+    "Move the hand-sized soda bottle away from the pink bottle with narrow top as you lift, then place the hand-sized soda bottle upright.",
+    "Take the smooth bottle with red lid, route it away from the pink shampoo container with pump top, and place the smooth bottle with red lid upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the shampoo bottle with rectangular shape, and stand the bottle with white neck and red top upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle with shiny pink body, place the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the rectangular pink shampoo container, and place the Coca-Cola bottle upright.",
+    "Grab the red-capped bottle, avoid the smooth pink plastic shampoo bottle while moving, then place the red-capped bottle upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the hand-sized pink shampoo container, then place the long thin bottle upright.",
+    "Grab the long thin bottle, keep it from the smooth pink plastic shampoo bottle, and set the long thin bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the pink shampoo bottle, place the red-capped bottle upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the plastic pink shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode24.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..b79a0c6a3803346aee3d9b4837af302a5df321c8
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the smooth shampoo container, then stand the Coca-Cola bottle up.",
+    "Use the right arm to grab the bottle with ridges on bottom, carry it away from the bottle for shampoo with glossy finish, set the bottle with ridges on bottom upright.",
+    "Use the right arm to pick the brown bottle with red label up, avoid the medium shampoo container, and place the brown bottle with red label upright.",
+    "Grab the long thin bottle, avoid the medium shampoo container while moving, then place the long thin bottle upright.",
+    "Lift the red-capped bottle, keep its path away from the white shampoo bottle, and set the red-capped bottle upright.",
+    "Guide the right arm to take the bottle with ridges on bottom, bypass the bottle for shampoo with glossy finish, and place the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the smooth bottle with red lid, keep clear of the plastic shampoo bottle with smooth surface, and place the smooth bottle with red lid upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the medium shampoo container, and set the bottle with white neck and red top upright.",
+    "Take the brown bottle with red label, move it without nearing the hand-held shampoo bottle, and stand the brown bottle with red label upright.",
+    "Lift the smooth bottle with red lid, guide it around the plastic shampoo bottle with smooth surface, then stand the smooth bottle with red lid upright.",
+    "Direct the right arm to pick the bottle with ridges on bottom up, avoid the white shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "With the right arm, take the red-capped bottle up, steer past the white shampoo bottle, and place the red-capped bottle upright.",
+    "Move the narrow-necked bottle away from the white shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Lift the long thin bottle, route it around the bottle with yellow cap, then set the long thin bottle upright.",
+    "With the right arm, take the plastic drink bottle, pass outside the hand-held shampoo bottle, and put the plastic drink bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the white shampoo bottle with golden top, and stand the Coca-Cola bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the medium shampoo container, then stand the bottle with white neck and red top upright.",
+    "Take the Coca-Cola bottle up, skirt the smooth shampoo container, and put the Coca-Cola bottle down upright.",
+    "Pick the long thin bottle up, keep its path clear of the shampoo bottle, place the long thin bottle upright.",
+    "With the right arm, pick up the narrow-necked bottle, steer away from the plastic shampoo bottle with smooth surface, and stand the narrow-necked bottle up.",
+    "Use the right arm to lift the brown bottle with red label, avoid the hand-held shampoo bottle en route, and stand the brown bottle with red label up.",
+    "Grab the long thin bottle, keep it away from the white bottle with golden accents, and put the long thin bottle down upright.",
+    "Grip the red-capped bottle with the right arm, keep distance from the rectangular shampoo bottle with rounded top, then set the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, steer it around the shampoo bottle, and place the dark drink bottle with logo upright.",
+    "With the right arm, pick the bottle with ridges on bottom up, avoid the hand-held shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the smooth shampoo container, then set the bottle with ridges on bottom upright.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the white bottle with golden accents, place the dark drink bottle with logo upright.",
+    "Use the right arm, raise the red-capped bottle, keep distance from the plastic shampoo bottle with smooth surface, then place the red-capped bottle upright.",
+    "Take the dark drink bottle with logo, route it away from the smooth shampoo container, and place the dark drink bottle with logo upright.",
+    "With the right arm, secure the hand-sized soda bottle, pass around the plastic shampoo bottle with smooth surface, and set the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the bottle with yellow cap, then place the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, carry it around the bottle with yellow cap, then stand the Coca-Cola bottle upright.",
+    "Using the right arm, lift the long thin bottle, pass clear of the smooth shampoo container, then place the long thin bottle upright.",
+    "Lift the brown bottle with red label, route its path away from the medium shampoo container, then set the brown bottle with red label upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the smooth shampoo container, place the dark drink bottle with logo upright.",
+    "Pick up the Coca-Cola bottle with the right arm, keep it away from the white bottle with golden accents, place the Coca-Cola bottle upright.",
+    "With the right arm, take the dark drink bottle with logo, avoid the shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Have the right arm grasp the narrow-necked bottle, avoid the plastic shampoo bottle with smooth surface while moving, and set the narrow-necked bottle upright.",
+    "Grab the red-capped bottle, keep it from the shampoo bottle, and set the red-capped bottle upright.",
+    "Take the narrow-necked bottle, keep clear of the medium shampoo container, and place the narrow-necked bottle upright.",
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the smooth shampoo container, then stand the Coca-Cola bottle up.",
+    "Use the right arm to grab the bottle with ridges on bottom, carry it away from the rectangular shampoo bottle with rounded top, set the bottle with ridges on bottom upright.",
+    "Use the right arm to pick the smooth bottle with red lid up, avoid the bottle with yellow cap, and place the smooth bottle with red lid upright.",
+    "Grab the Coca-Cola bottle, avoid the smooth shampoo container while moving, then place the Coca-Cola bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the white bottle with golden accents, and set the medium dark brown bottle upright.",
+    "Guide the right arm to take the hand-sized soda bottle, bypass the hand-held shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the white bottle with golden accents, and place the brown bottle with red label upright.",
+    "Pick up the narrow-necked bottle, swing wide around the medium shampoo container, and set the narrow-necked bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the bottle with yellow cap, and stand the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, guide it around the bottle for shampoo with glossy finish, then stand the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the plastic drink bottle up, avoid the smooth shampoo container, and stand the plastic drink bottle upright.",
+    "With the right arm, take the smooth bottle with red lid up, steer past the shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Move the plastic drink bottle away from the plastic shampoo bottle with smooth surface as you lift, then place the plastic drink bottle upright.",
+    "Lift the long thin bottle, route it around the white shampoo bottle, then set the long thin bottle upright.",
+    "With the right arm, take the Coca-Cola bottle, pass outside the bottle for shampoo with glossy finish, and put the Coca-Cola bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the smooth shampoo container, and stand the plastic drink bottle upright.",
+    "Pick up the brown bottle with red label, route it around the plastic shampoo bottle with smooth surface, then stand the brown bottle with red label upright.",
+    "Take the brown bottle with red label up, skirt the shampoo bottle with rectangular base, and put the brown bottle with red label down upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the plastic shampoo bottle with smooth surface, place the narrow-necked bottle upright.",
+    "With the right arm, pick up the medium dark brown bottle, steer away from the medium shampoo container, and stand the medium dark brown bottle up.",
+    "Use the right arm to lift the bottle with white neck and red top, avoid the medium shampoo container en route, and stand the bottle with white neck and red top up.",
+    "Grab the bottle with white neck and red top, keep it away from the hand-held shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Grip the brown bottle with red label with the right arm, keep distance from the bottle with yellow cap, then set the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, steer it around the shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the right arm, pick the dark drink bottle with logo up, avoid the shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the white shampoo bottle, then set the smooth bottle with red lid upright.",
+    "With the right arm, lift the Coca-Cola bottle, keep it away from the shampoo bottle, place the Coca-Cola bottle upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the white shampoo bottle with golden top, then place the Coca-Cola bottle upright.",
+    "Take the brown bottle with red label, route it away from the bottle for shampoo with glossy finish, and place the brown bottle with red label upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the white shampoo bottle with golden top, and set the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, move it without crossing the bottle with yellow cap, then place the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the white shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, pass clear of the white shampoo bottle, then place the narrow-necked bottle upright.",
+    "Lift the red-capped bottle, route its path away from the white shampoo bottle, then set the red-capped bottle upright.",
+    "Using the right arm, pick the medium dark brown bottle up, keep clear of the bottle with yellow cap, place the medium dark brown bottle upright.",
+    "Pick up the smooth bottle with red lid with the right arm, keep it away from the white bottle with golden accents, place the smooth bottle with red lid upright.",
+    "With the right arm, take the dark drink bottle with logo, avoid the smooth shampoo container while moving, and set the dark drink bottle with logo upright.",
+    "Have the right arm grasp the brown bottle with red label, avoid the rectangular shampoo bottle with rounded top while moving, and set the brown bottle with red label upright.",
+    "Grab the dark drink bottle with logo, keep it from the bottle with yellow cap, and set the dark drink bottle with logo upright.",
+    "Take the smooth bottle with red lid, keep clear of the rectangular shampoo bottle with rounded top, and place the smooth bottle with red lid upright.",
+    "Using the right arm, grasp the red-capped bottle, move it past the bottle with yellow cap, then stand the red-capped bottle up.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the smooth shampoo container, set the dark drink bottle with logo upright.",
+    "Use the right arm to pick the plastic drink bottle up, avoid the bottle for shampoo with glossy finish, and place the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the bottle for shampoo with glossy finish while moving, then place the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, keep its path away from the bottle with yellow cap, and set the medium dark brown bottle upright.",
+    "Guide the right arm to take the narrow-necked bottle, bypass the shampoo bottle, and place the narrow-necked bottle upright.",
+    "Using the right arm, lift the Coca-Cola bottle, keep clear of the bottle with yellow cap, and place the Coca-Cola bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the medium shampoo container, and set the bottle with white neck and red top upright.",
+    "Take the bottle with white neck and red top, move it without nearing the rectangular shampoo bottle with rounded top, and stand the bottle with white neck and red top upright.",
+    "Lift the smooth bottle with red lid, guide it around the smooth shampoo container, then stand the smooth bottle with red lid upright.",
+    "Direct the right arm to pick the narrow-necked bottle up, avoid the white shampoo bottle with golden top, and stand the narrow-necked bottle upright.",
+    "With the right arm, take the long thin bottle up, steer past the plastic shampoo bottle with smooth surface, and place the long thin bottle upright.",
+    "Move the bottle with ridges on bottom away from the shampoo bottle as you lift, then place the bottle with ridges on bottom upright.",
+    "Lift the bottle with white neck and red top, route it around the bottle for shampoo with glossy finish, then set the bottle with white neck and red top upright.",
+    "With the right arm, take the smooth bottle with red lid, pass outside the bottle for shampoo with glossy finish, and put the smooth bottle with red lid upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the white shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Pick up the brown bottle with red label, route it around the plastic shampoo bottle with smooth surface, then stand the brown bottle with red label upright.",
+    "Take the narrow-necked bottle up, skirt the bottle for shampoo with glossy finish, and put the narrow-necked bottle down upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the plastic shampoo bottle with smooth surface, place the plastic drink bottle upright.",
+    "With the right arm, pick up the plastic drink bottle, steer away from the rectangular shampoo bottle with rounded top, and stand the plastic drink bottle up."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the medium-sized shampoo bottle, then set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the medium-sized shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the medium-sized shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white plastic shampoo bottle, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the medium-sized shampoo bottle, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the medium-sized shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the white plastic shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode25.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d4a158fa44bef0169b1708673b1be9533b8480b
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth bottle with red lid, move it without nearing the smooth pink plastic shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Grab the Coca-Cola bottle, avoid the pink shampoo bottle while moving, then place the Coca-Cola bottle upright.",
+    "Take the brown bottle with red label, keep clear of the plastic shampoo bottle with black pump, and place the brown bottle with red label upright.",
+    "With the left arm, pick the long thin bottle up, avoid the pink bottle with black dispenser, and put the long thin bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the plastic shampoo bottle with black pump, and stand the Coca-Cola bottle upright.",
+    "Lift the long thin bottle, guide it around the rectangular pink bottle with dispenser, then stand the long thin bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the pink bottle with narrow top, and set the Coca-Cola bottle upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the rectangular pink shampoo container, then set the red-capped bottle upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the shampoo bottle with rectangular shape, and set the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the bottle with ridges on bottom up, avoid the pink shampoo container with pump top, and place the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the rectangular pink shampoo container, place the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, keep it away from the pink bottle with black dispenser, and put the bottle with white neck and red top down upright.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the rectangular pink bottle with dispenser, then place the plastic drink bottle upright.",
+    "Take the plastic drink bottle up, skirt the rectangular pink bottle with dispenser, and put the plastic drink bottle down upright.",
+    "Lift the long thin bottle, route its path away from the plastic shampoo bottle with black pump, then set the long thin bottle upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the plastic shampoo bottle with black pump, then stand the hand-sized soda bottle up.",
+    "With the left arm, take the hand-sized soda bottle, avoid the rectangular pink shampoo container while moving, and set the hand-sized soda bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the pink bottle with black dispenser, and set the plastic drink bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the rectangular pink shampoo container, and place the red-capped bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the rectangular pink shampoo container, then place the medium dark brown bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the rectangular pink bottle with dispenser, and place the brown bottle with red label upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the shampoo bottle with rectangular shape, set the smooth bottle with red lid upright.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the rectangular pink shampoo container, and stand the narrow-necked bottle up.",
+    "Use the left arm to lift the plastic drink bottle, avoid the pink shampoo container with pump top en route, and stand the plastic drink bottle up.",
+    "Grab the plastic drink bottle, steer it around the pink shampoo container with pump top, and place the plastic drink bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the pink bottle with narrow top, and stand the bottle with ridges on bottom upright.",
+    "Pick the long thin bottle up, keep its path clear of the rectangular pink shampoo container, place the long thin bottle upright.",
+    "Pick up the bottle with ridges on bottom with the left arm, keep it away from the plastic shampoo bottle with black pump, place the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, keep it from the rectangular pink shampoo container, and set the long thin bottle upright.",
+    "Lift the narrow-necked bottle, route it around the pink bottle with narrow top, then set the narrow-necked bottle upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the pink bottle with narrow top, and put the narrow-necked bottle upright.",
+    "With the left arm, take the brown bottle with red label up, steer past the smooth pink plastic shampoo bottle, and place the brown bottle with red label upright.",
+    "Move the dark drink bottle with logo away from the hand-sized pink shampoo container as you lift, then place the dark drink bottle with logo upright.",
+    "Take the medium dark brown bottle, route it away from the pink bottle with narrow top, and place the medium dark brown bottle upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the pink bottle with narrow top while moving, and set the smooth bottle with red lid upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the pink shampoo bottle, place the hand-sized soda bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the pink shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the shampoo bottle with rectangular shape, then place the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, carry it around the pink shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Pick up the bottle with ridges on bottom, route it around the medium pink bottle for shampoo, then stand the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, move it without nearing the smooth pink plastic shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, avoid the pink bottle with narrow top while moving, then place the hand-sized soda bottle upright.",
+    "Take the red-capped bottle, keep clear of the plastic shampoo bottle with black pump, and place the red-capped bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the shampoo bottle with rectangular shape, and put the long thin bottle upright.",
+    "Move the brown bottle with red label from its spot, skirt the pink shampoo bottle, and stand the brown bottle with red label upright.",
+    "Lift the brown bottle with red label, guide it around the pink bottle with black dispenser, then stand the brown bottle with red label upright.",
+    "Lift the red-capped bottle, keep its path away from the smooth pink plastic shampoo bottle, and set the red-capped bottle upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the shampoo bottle with rectangular shape, then set the smooth bottle with red lid upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the pink bottle with black dispenser, and set the hand-sized soda bottle upright.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the pink bottle with narrow top, and place the hand-sized soda bottle upright.",
+    "Using the left arm, pick the bottle with ridges on bottom up, keep clear of the pink shampoo bottle, place the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, keep it away from the plastic shampoo bottle with black pump, and put the hand-sized soda bottle down upright.",
+    "Use the left arm, raise the smooth bottle with red lid, keep distance from the rectangular pink bottle with dispenser, then place the smooth bottle with red lid upright.",
+    "Take the brown bottle with red label up, skirt the rectangular pink shampoo container, and put the brown bottle with red label down upright.",
+    "Lift the red-capped bottle, route its path away from the pink shampoo bottle, then set the red-capped bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the shampoo bottle with rectangular shape, then stand the smooth bottle with red lid up.",
+    "With the left arm, take the narrow-necked bottle, avoid the pink bottle with black dispenser while moving, and set the narrow-necked bottle upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the medium pink bottle for shampoo, and set the hand-sized soda bottle upright.",
+    "Guide the left arm to take the hand-sized soda bottle, bypass the plastic shampoo bottle with black pump, and place the hand-sized soda bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the smooth pink plastic shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the pink bottle with black dispenser, and place the bottle with white neck and red top upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the pink shampoo container with pump top, set the narrow-necked bottle upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the pink bottle with black dispenser, and stand the brown bottle with red label up.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the pink shampoo bottle en route, and stand the smooth bottle with red lid up.",
+    "Grab the narrow-necked bottle, steer it around the medium pink bottle for shampoo, and place the narrow-necked bottle upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the pink shampoo container with pump top, and stand the Coca-Cola bottle upright.",
+    "Pick the bottle with white neck and red top up, keep its path clear of the pink bottle with black dispenser, place the bottle with white neck and red top upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the pink bottle with narrow top, place the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the pink shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Lift the medium dark brown bottle, route it around the rectangular pink bottle with dispenser, then set the medium dark brown bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the rectangular pink shampoo container, and put the dark drink bottle with logo upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the pink shampoo container with pump top, and place the medium dark brown bottle upright.",
+    "Move the narrow-necked bottle away from the smooth pink plastic shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Take the bottle with ridges on bottom, route it away from the pink shampoo container with pump top, and place the bottle with ridges on bottom upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the pink shampoo container with pump top while moving, and set the dark drink bottle with logo upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the shampoo bottle with shiny pink body, place the smooth bottle with red lid upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the plastic shampoo bottle with black pump, then set the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the medium pink bottle for shampoo, then place the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, carry it around the pink bottle with black dispenser, then stand the hand-sized soda bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the pink bottle with black dispenser, then stand the hand-sized soda bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the pink bottle with narrow top, and stand the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the medium pink bottle for shampoo while moving, then place the dark drink bottle with logo upright.",
+    "Take the medium dark brown bottle, keep clear of the smooth pink plastic shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the medium pink bottle for shampoo, and put the bottle with white neck and red top upright.",
+    "Move the red-capped bottle from its spot, skirt the rectangular pink bottle with dispenser, and stand the red-capped bottle upright.",
+    "Lift the long thin bottle, guide it around the smooth pink plastic shampoo bottle, then stand the long thin bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the shampoo bottle with shiny pink body, and set the dark drink bottle with logo upright.",
+    "Grip the brown bottle with red label with the left arm, keep distance from the pink shampoo bottle, then set the brown bottle with red label upright.",
+    "Pick up the medium dark brown bottle, swing wide around the plastic shampoo bottle with black pump, and set the medium dark brown bottle upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the pink bottle with black dispenser, and place the dark drink bottle with logo upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the pink bottle with black dispenser, place the hand-sized soda bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the medium pink bottle for shampoo, and put the bottle with ridges on bottom down upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the shampoo bottle with rectangular shape, then place the Coca-Cola bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the rectangular pink shampoo container, and put the bottle with ridges on bottom down upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle with shiny pink body, then set the hand-sized soda bottle upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the plastic shampoo bottle with black pump, then stand the bottle with ridges on bottom up.",
+    "With the left arm, take the bottle with white neck and red top, avoid the rectangular pink shampoo container while moving, and set the bottle with white neck and red top upright.",
+    "With the left arm, secure the red-capped bottle, pass around the pink shampoo bottle, and set the red-capped bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the rectangular pink shampoo container, and place the long thin bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the shampoo bottle with shiny pink body, then place the dark drink bottle with logo upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode26.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..90bf0f9e0adb2fee7228a2e787445d353b7a9692
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium dark brown bottle up, keep its path clear of the shampoo bottle flat bottom edge, place the medium dark brown bottle upright.",
+    "With the right arm, lift the bottle with white neck and red top, keep it away from the shampoo bottle with matte plastic, place the bottle with white neck and red top upright.",
+    "Grip the dark drink bottle with logo with the right arm, keep distance from the curved light blue shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the bottle of shampoo, then set the Coca-Cola bottle upright.",
+    "Use the right arm to pick the bottle with white neck and red top up, avoid the bottle light blue rounded shape, and place the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, steer it around the shampoo bottle flat bottom edge, and place the bottle with ridges on bottom upright.",
+    "Use the right arm to grab the long thin bottle, carry it away from the shampoo bottle with white cap, set the long thin bottle upright.",
+    "Guide the right arm to take the hand-sized soda bottle, bypass the shampoo bottle flat bottom edge, and place the hand-sized soda bottle upright.",
+    "Lift the Coca-Cola bottle, guide it around the blue shampoo bottle slender design, then stand the Coca-Cola bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the light blue shampoo bottle small size, and place the hand-sized soda bottle upright.",
+    "Move the narrow-necked bottle away from the shampoo bottle with white cap as you lift, then place the narrow-necked bottle upright.",
+    "Grab the brown bottle with red label, keep it from the bottle of shampoo, and set the brown bottle with red label upright.",
+    "With the right arm, secure the hand-sized soda bottle, pass around the hand-sized shampoo bottle, and set the hand-sized soda bottle upright.",
+    "With the right arm, take the Coca-Cola bottle, avoid the blue shampoo bottle slender design while moving, and set the Coca-Cola bottle upright.",
+    "With the right arm, take the narrow-necked bottle up, steer past the bottle light blue rounded shape, and place the narrow-necked bottle upright.",
+    "Direct the right arm to pick the red-capped bottle up, avoid the hand-sized shampoo bottle, and stand the red-capped bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the blue shampoo bottle slender design, and set the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the shampoo bottle flat bottom edge, then stand the Coca-Cola bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the bottle of shampoo, then set the bottle with white neck and red top upright.",
+    "Lift the Coca-Cola bottle, route it around the small smooth shampoo bottle, then set the Coca-Cola bottle upright.",
+    "With the right arm, pick the long thin bottle up, avoid the bottle of shampoo, and put the long thin bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle with matte plastic, and put the narrow-necked bottle down upright.",
+    "Take the red-capped bottle, move it without nearing the light blue shampoo bottle small size, and stand the red-capped bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the bottle light blue rounded shape, then place the bottle with white neck and red top upright.",
+    "With the right arm, take the dark drink bottle with logo, pass outside the shampoo bottle flat bottom edge, and put the dark drink bottle with logo upright.",
+    "Pick up the bottle with ridges on bottom with the right arm, keep it away from the blue shampoo bottle slender design, place the bottle with ridges on bottom upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the curved light blue shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the small smooth shampoo bottle while moving, then place the dark drink bottle with logo upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the light blue shampoo bottle small size, and set the dark drink bottle with logo upright.",
+    "Using the right arm, grasp the bottle with white neck and red top, move it past the small smooth shampoo bottle, then stand the bottle with white neck and red top up.",
+    "Take the bottle with white neck and red top up, skirt the bottle of shampoo, and put the bottle with white neck and red top down upright.",
+    "With the right arm, pick up the plastic drink bottle, steer away from the small smooth shampoo bottle, and stand the plastic drink bottle up.",
+    "Take the Coca-Cola bottle, route it away from the blue shampoo bottle slender design, and place the Coca-Cola bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the shampoo bottle with matte plastic, then stand the smooth bottle with red lid upright.",
+    "Use the right arm to lift the brown bottle with red label, avoid the bottle light blue rounded shape en route, and stand the brown bottle with red label up.",
+    "Using the right arm, lift the medium dark brown bottle, keep clear of the hand-sized shampoo bottle, and place the medium dark brown bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the curved light blue shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the shampoo bottle flat bottom edge, place the dark drink bottle with logo upright.",
+    "Using the right arm, lift the bottle with white neck and red top, pass clear of the hand-sized shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Have the right arm grasp the hand-sized soda bottle, avoid the blue shampoo bottle slender design while moving, and set the hand-sized soda bottle upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the shampoo bottle flat bottom edge, place the Coca-Cola bottle upright.",
+    "With the right arm, lift the bottle with ridges on bottom, keep it away from the bottle light blue rounded shape, place the bottle with ridges on bottom upright.",
+    "Grip the medium dark brown bottle with the right arm, keep distance from the bottle of shampoo, then set the medium dark brown bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the small smooth shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Use the right arm to pick the bottle with ridges on bottom up, avoid the blue shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Grab the smooth bottle with red lid, steer it around the blue shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Use the right arm to grab the brown bottle with red label, carry it away from the light blue shampoo bottle small size, set the brown bottle with red label upright.",
+    "Guide the right arm to take the long thin bottle, bypass the blue shampoo bottle, and place the long thin bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the bottle of shampoo, then stand the dark drink bottle with logo upright.",
+    "Take the long thin bottle, keep clear of the bottle of shampoo, and place the long thin bottle upright.",
+    "Move the Coca-Cola bottle away from the bottle of shampoo as you lift, then place the Coca-Cola bottle upright.",
+    "Grab the medium dark brown bottle, keep it from the curved light blue shampoo bottle, and set the medium dark brown bottle upright.",
+    "With the right arm, secure the bottle with ridges on bottom, pass around the light blue shampoo bottle small size, and set the bottle with ridges on bottom upright.",
+    "With the right arm, take the bottle with white neck and red top, avoid the shampoo bottle flat bottom edge while moving, and set the bottle with white neck and red top upright.",
+    "With the right arm, take the Coca-Cola bottle up, steer past the small smooth shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the long thin bottle up, avoid the blue shampoo bottle slender design, and stand the long thin bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the blue shampoo bottle slender design, and set the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, carry it around the shampoo bottle with matte plastic, then stand the red-capped bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the blue shampoo bottle slender design, then set the dark drink bottle with logo upright.",
+    "Lift the plastic drink bottle, route it around the bottle of shampoo, then set the plastic drink bottle upright.",
+    "With the right arm, pick the brown bottle with red label up, avoid the shampoo bottle tapered toward cap, and put the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, keep it away from the shampoo bottle tapered toward cap, and put the Coca-Cola bottle down upright.",
+    "Take the narrow-necked bottle, move it without nearing the blue shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the small smooth shampoo bottle, then place the plastic drink bottle upright.",
+    "With the right arm, take the plastic drink bottle, pass outside the shampoo bottle tapered toward cap, and put the plastic drink bottle upright.",
+    "Pick up the brown bottle with red label with the right arm, keep it away from the light blue shampoo bottle small size, place the brown bottle with red label upright.",
+    "Use the right arm, raise the smooth bottle with red lid, keep distance from the shampoo bottle with matte plastic, then place the smooth bottle with red lid upright.",
+    "Grab the hand-sized soda bottle, avoid the shampoo bottle flat bottom edge while moving, then place the hand-sized soda bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the blue shampoo bottle slender design, and set the hand-sized soda bottle upright.",
+    "Using the right arm, grasp the medium dark brown bottle, move it past the blue shampoo bottle, then stand the medium dark brown bottle up.",
+    "Take the brown bottle with red label up, skirt the blue shampoo bottle slender design, and put the brown bottle with red label down upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the shampoo bottle with white cap, and stand the dark drink bottle with logo up.",
+    "Take the plastic drink bottle, route it away from the shampoo bottle with white cap, and place the plastic drink bottle upright.",
+    "Pick up the long thin bottle, route it around the light blue shampoo bottle small size, then stand the long thin bottle upright.",
+    "Use the right arm to lift the smooth bottle with red lid, avoid the shampoo bottle tapered toward cap en route, and stand the smooth bottle with red lid up.",
+    "Using the right arm, lift the hand-sized soda bottle, keep clear of the small smooth shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the small smooth shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the bottle of shampoo, place the dark drink bottle with logo upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, pass clear of the shampoo bottle flat bottom edge, then place the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the smooth bottle with red lid, avoid the small smooth shampoo bottle while moving, and set the smooth bottle with red lid upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the shampoo bottle with white cap, place the dark drink bottle with logo upright.",
+    "With the right arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle tapered toward cap, place the bottle with ridges on bottom upright.",
+    "Grip the long thin bottle with the right arm, keep distance from the blue shampoo bottle, then set the long thin bottle upright.",
+    "Lift the plastic drink bottle, keep its path clear of the hand-sized shampoo bottle, then set the plastic drink bottle upright.",
+    "Use the right arm to pick the plastic drink bottle up, avoid the shampoo bottle with white cap, and place the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, steer it around the bottle of shampoo, and place the narrow-necked bottle upright.",
+    "Use the right arm to grab the red-capped bottle, carry it away from the curved light blue shampoo bottle, set the red-capped bottle upright.",
+    "Guide the right arm to take the long thin bottle, bypass the shampoo bottle tapered toward cap, and place the long thin bottle upright.",
+    "Lift the long thin bottle, guide it around the shampoo bottle flat bottom edge, then stand the long thin bottle upright.",
+    "Take the smooth bottle with red lid, keep clear of the light blue shampoo bottle small size, and place the smooth bottle with red lid upright.",
+    "Move the red-capped bottle away from the curved light blue shampoo bottle as you lift, then place the red-capped bottle upright.",
+    "Grab the long thin bottle, keep it from the hand-sized shampoo bottle, and set the long thin bottle upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the bottle of shampoo, and set the bottle with white neck and red top upright.",
+    "With the right arm, take the plastic drink bottle, avoid the bottle of shampoo while moving, and set the plastic drink bottle upright.",
+    "With the right arm, take the narrow-necked bottle up, steer past the shampoo bottle with white cap, and place the narrow-necked bottle upright.",
+    "Direct the right arm to pick the brown bottle with red label up, avoid the curved light blue shampoo bottle, and stand the brown bottle with red label upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the light blue shampoo bottle small size, and set the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, carry it around the blue shampoo bottle slender design, then stand the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, route its path away from the blue shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Lift the medium dark brown bottle, route it around the hand-sized shampoo bottle, then set the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode27.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..d80f2cb258c87ddac9fc71a5ff11c2b1033e1dac
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic bottle, route it around the plastic shampoo bottle with smooth surface, then set the plastic bottle upright.",
+    "Lift the plastic bottle, keep its path clear of the white shampoo bottle with golden top, then set the plastic bottle upright.",
+    "Using the left arm, lift the medium-sized green bottle, keep clear of the shampoo bottle with rectangular base, and place the medium-sized green bottle upright.",
+    "Grab the bottle with white printed label, keep it away from the hand-held shampoo bottle, and put the bottle with white printed label down upright.",
+    "Using the left arm, grasp the green bottle with indented base, move it past the bottle for shampoo with glossy finish, then stand the green bottle with indented base up.",
+    "Grip the medium-sized green bottle with the left arm, keep distance from the bottle with yellow cap, then set the medium-sized green bottle upright.",
+    "Lift the green bottle with indented base, route its path away from the smooth shampoo container, then set the green bottle with indented base upright.",
+    "Use the left arm to lift the handheld green bottle, avoid the hand-held shampoo bottle en route, and stand the handheld green bottle up.",
+    "Grab the bottle with white printed label, steer it around the bottle for shampoo with glossy finish, and place the bottle with white printed label upright.",
+    "With the left arm, pick up the smooth green bottle, steer away from the bottle with yellow cap, and stand the smooth green bottle up.",
+    "With the left arm, pick the bottle with rounded neck up, avoid the smooth shampoo container, and put the bottle with rounded neck upright.",
+    "Direct the left arm to pick the bottle with white printed label up, avoid the smooth shampoo container, and stand the bottle with white printed label upright.",
+    "Using the left arm, lift the bottle with ridges near base, pass clear of the white shampoo bottle with golden top, then place the bottle with ridges near base upright.",
+    "Pick the medium-sized green bottle up, keep its path clear of the bottle with yellow cap, place the medium-sized green bottle upright.",
+    "Pick up the smooth green bottle, route it around the white bottle with golden accents, then stand the smooth green bottle upright.",
+    "Grab the plastic bottle, carry it around the medium shampoo container, then stand the plastic bottle upright.",
+    "Use the left arm to grab the medium-sized green bottle, carry it away from the medium shampoo container, set the medium-sized green bottle upright.",
+    "With the left arm, lift the medium green bottle, keep it away from the white shampoo bottle, place the medium green bottle upright.",
+    "Lift the plastic bottle, keep its path away from the shampoo bottle with rectangular base, and set the plastic bottle upright.",
+    "Take the bottle with white printed label, move it without nearing the rectangular shampoo bottle with rounded top, and stand the bottle with white printed label upright.",
+    "Take the medium green bottle up, skirt the white bottle with golden accents, and put the medium green bottle down upright.",
+    "Move the smooth green bottle away from the plastic shampoo bottle with smooth surface as you lift, then place the smooth green bottle upright.",
+    "Pick up the smooth green plastic bottle with the left arm, keep it away from the white bottle with golden accents, place the smooth green plastic bottle upright.",
+    "Take the bottle with ridges near base, keep clear of the white shampoo bottle, and place the bottle with ridges near base upright.",
+    "Move the bottle with ridges near base from its spot, skirt the white shampoo bottle, and stand the bottle with ridges near base upright.",
+    "Use the left arm, raise the medium-sized green bottle, keep distance from the smooth shampoo container, then place the medium-sized green bottle upright.",
+    "With the left arm, take the smooth green bottle up, steer past the shampoo bottle, and place the smooth green bottle upright.",
+    "Pick up the smooth green bottle, swing wide around the rectangular shampoo bottle with rounded top, and set the smooth green bottle upright.",
+    "With the left arm, secure the medium green bottle, pass around the hand-held shampoo bottle, and set the medium green bottle upright.",
+    "Using the left arm, pick the bottle with ridges near base up, keep clear of the white bottle with golden accents, place the bottle with ridges near base upright.",
+    "With the left arm, take the plastic bottle, pass outside the plastic shampoo bottle with smooth surface, and put the plastic bottle upright.",
+    "Use the left arm to pick the medium green bottle up, avoid the white bottle with golden accents, and place the medium green bottle upright.",
+    "Guide the left arm to take the smooth green plastic bottle, bypass the medium shampoo container, and place the smooth green plastic bottle upright.",
+    "Take the medium green bottle with capped neck, route it away from the bottle for shampoo with glossy finish, and place the medium green bottle with capped neck upright.",
+    "Lift the bottle with ridges near base, guide it around the smooth shampoo container, then stand the bottle with ridges near base upright.",
+    "Grab the green bottle with indented base, keep it from the rectangular shampoo bottle with rounded top, and set the green bottle with indented base upright.",
+    "Grab the medium-sized green bottle, avoid the smooth shampoo container while moving, then place the medium-sized green bottle upright.",
+    "Grab the bottle with narrow top, move it without crossing the white shampoo bottle with golden top, then place the bottle with narrow top upright.",
+    "Have the left arm grasp the green bottle with indented base, avoid the medium shampoo container while moving, and set the green bottle with indented base upright.",
+    "With the left arm, take the bottle with narrow top, avoid the medium shampoo container while moving, and set the bottle with narrow top upright.",
+    "Lift the smooth green plastic bottle, route it around the medium shampoo container, then set the smooth green plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the shampoo bottle with rectangular base, then set the medium green bottle with capped neck upright.",
+    "Using the left arm, lift the green bottle with indented base, keep clear of the shampoo bottle with rectangular base, and place the green bottle with indented base upright.",
+    "Grab the medium-sized green bottle, keep it away from the smooth shampoo container, and put the medium-sized green bottle down upright.",
+    "Using the left arm, grasp the bottle with rounded neck, move it past the plastic shampoo bottle with smooth surface, then stand the bottle with rounded neck up.",
+    "Grip the bottle with white printed label with the left arm, keep distance from the medium shampoo container, then set the bottle with white printed label upright.",
+    "Lift the smooth green plastic bottle, route its path away from the hand-held shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Use the left arm to lift the bottle with white printed label, avoid the medium shampoo container en route, and stand the bottle with white printed label up.",
+    "Grab the medium green bottle, steer it around the plastic shampoo bottle with smooth surface, and place the medium green bottle upright.",
+    "With the left arm, pick up the bottle with rounded neck, steer away from the hand-held shampoo bottle, and stand the bottle with rounded neck up.",
+    "With the left arm, pick the bottle with white printed label up, avoid the white shampoo bottle with golden top, and put the bottle with white printed label upright.",
+    "Direct the left arm to pick the bottle with rounded neck up, avoid the white shampoo bottle, and stand the bottle with rounded neck upright.",
+    "Using the left arm, lift the smooth green plastic bottle, pass clear of the hand-held shampoo bottle, then place the smooth green plastic bottle upright.",
+    "Pick the bottle with narrow top up, keep its path clear of the rectangular shampoo bottle with rounded top, place the bottle with narrow top upright.",
+    "Pick up the bottle with white printed label, route it around the white shampoo bottle with golden top, then stand the bottle with white printed label upright.",
+    "Grab the medium-sized green bottle, carry it around the plastic shampoo bottle with smooth surface, then stand the medium-sized green bottle upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the bottle for shampoo with glossy finish, set the bottle with white printed label upright.",
+    "With the left arm, lift the medium green bottle with capped neck, keep it away from the white shampoo bottle, place the medium green bottle with capped neck upright.",
+    "Lift the medium green bottle, keep its path away from the smooth shampoo container, and set the medium green bottle upright.",
+    "Take the handheld green bottle, move it without nearing the white shampoo bottle, and stand the handheld green bottle upright.",
+    "Take the medium-sized green bottle up, skirt the plastic shampoo bottle with smooth surface, and put the medium-sized green bottle down upright.",
+    "Move the plastic bottle away from the hand-held shampoo bottle as you lift, then place the plastic bottle upright.",
+    "Pick up the bottle with rounded neck with the left arm, keep it away from the white shampoo bottle with golden top, place the bottle with rounded neck upright.",
+    "Take the medium-sized green bottle, keep clear of the bottle with yellow cap, and place the medium-sized green bottle upright.",
+    "Move the plastic bottle from its spot, skirt the white shampoo bottle with golden top, and stand the plastic bottle upright.",
+    "Use the left arm, raise the handheld green bottle, keep distance from the hand-held shampoo bottle, then place the handheld green bottle upright.",
+    "With the left arm, take the smooth green plastic bottle up, steer past the bottle for shampoo with glossy finish, and place the smooth green plastic bottle upright.",
+    "Pick up the medium green bottle with capped neck, swing wide around the white bottle with golden accents, and set the medium green bottle with capped neck upright.",
+    "With the left arm, secure the bottle with white printed label, pass around the white bottle with golden accents, and set the bottle with white printed label upright.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the white shampoo bottle, place the bottle with white printed label upright.",
+    "With the left arm, take the smooth green plastic bottle, pass outside the rectangular shampoo bottle with rounded top, and put the smooth green plastic bottle upright.",
+    "Use the left arm to pick the medium-sized green bottle up, avoid the hand-held shampoo bottle, and place the medium-sized green bottle upright.",
+    "Guide the left arm to take the plastic bottle, bypass the shampoo bottle, and place the plastic bottle upright.",
+    "Take the smooth green plastic bottle, route it away from the medium shampoo container, and place the smooth green plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, guide it around the plastic shampoo bottle with smooth surface, then stand the medium green bottle with capped neck upright.",
+    "Grab the medium green bottle, keep it from the bottle with yellow cap, and set the medium green bottle upright.",
+    "Grab the handheld green bottle, avoid the shampoo bottle with rectangular base while moving, then place the handheld green bottle upright.",
+    "Grab the plastic bottle, move it without crossing the bottle with yellow cap, then place the plastic bottle upright.",
+    "Have the left arm grasp the bottle with narrow top, avoid the white shampoo bottle while moving, and set the bottle with narrow top upright.",
+    "With the left arm, take the smooth green plastic bottle, avoid the bottle with yellow cap while moving, and set the smooth green plastic bottle upright.",
+    "Lift the handheld green bottle, route it around the smooth shampoo container, then set the handheld green bottle upright.",
+    "Lift the plastic bottle, keep its path clear of the bottle with yellow cap, then set the plastic bottle upright.",
+    "Using the left arm, lift the medium green bottle with capped neck, keep clear of the white shampoo bottle with golden top, and place the medium green bottle with capped neck upright.",
+    "Grab the bottle with rounded neck, keep it away from the rectangular shampoo bottle with rounded top, and put the bottle with rounded neck down upright.",
+    "Using the left arm, grasp the smooth green bottle, move it past the plastic shampoo bottle with smooth surface, then stand the smooth green bottle up.",
+    "Grip the handheld green bottle with the left arm, keep distance from the white bottle with golden accents, then set the handheld green bottle upright.",
+    "Lift the smooth green bottle, route its path away from the white shampoo bottle, then set the smooth green bottle upright.",
+    "Use the left arm to lift the medium-sized green bottle, avoid the white shampoo bottle with golden top en route, and stand the medium-sized green bottle up.",
+    "Grab the bottle with narrow top, steer it around the rectangular shampoo bottle with rounded top, and place the bottle with narrow top upright.",
+    "With the left arm, pick up the medium-sized green bottle, steer away from the medium shampoo container, and stand the medium-sized green bottle up.",
+    "With the left arm, pick the medium green bottle up, avoid the shampoo bottle, and put the medium green bottle upright.",
+    "Direct the left arm to pick the medium green bottle up, avoid the smooth shampoo container, and stand the medium green bottle upright.",
+    "Using the left arm, lift the bottle with ridges near base, pass clear of the plastic shampoo bottle with smooth surface, then place the bottle with ridges near base upright.",
+    "Pick the bottle with ridges near base up, keep its path clear of the shampoo bottle, place the bottle with ridges near base upright.",
+    "Pick up the green bottle with indented base, route it around the white bottle with golden accents, then stand the green bottle with indented base upright.",
+    "Grab the medium green bottle with capped neck, carry it around the bottle with yellow cap, then stand the medium green bottle with capped neck upright.",
+    "Use the left arm to grab the smooth green bottle, carry it away from the smooth shampoo container, set the smooth green bottle upright.",
+    "With the left arm, lift the smooth green plastic bottle, keep it away from the white bottle with golden accents, place the smooth green plastic bottle upright.",
+    "Lift the plastic bottle, keep its path away from the white shampoo bottle, and set the plastic bottle upright.",
+    "Take the smooth green plastic bottle, move it without nearing the white bottle with golden accents, and stand the smooth green plastic bottle upright."
+  ],
+  "unseen": [
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with rounded yellow cap, and place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the white plastic shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode28.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..03cb32aa2f7e74d4fc2b41a5996b179f3e795ad1
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the yellow bottle with green top en route, and stand the bottle with ridges on bottom up.",
+    "Lift the red-capped bottle, guide it around the bottle with cartoon label, then stand the red-capped bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the yellow shampoo with cartoon design, and place the long thin bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the yellow shampoo with cartoon design, and place the narrow-necked bottle upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo bottle with handle slot while moving, and set the narrow-necked bottle upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the yellow shampoo bottle, then place the narrow-necked bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the bottle with cartoon label, and put the dark drink bottle with logo upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the yellow container with green pump, and put the bottle with ridges on bottom upright.",
+    "Grab the dark drink bottle with logo, carry it around the yellow shampoo with cartoon design, then stand the dark drink bottle with logo upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the yellow shampoo with cartoon design, place the hand-sized soda bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the yellow container with green pump, and set the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the bottle with cartoon label, and put the medium dark brown bottle down upright.",
+    "Lift the Coca-Cola bottle, route it around the plastic shampoo bottle with label, then set the Coca-Cola bottle upright.",
+    "Take the bottle with white neck and red top, route it away from the shampoo bottle with handle slot, and place the bottle with white neck and red top upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the smooth bottle with green top, and place the bottle with white neck and red top upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the medium shampoo bottle with pump, then set the long thin bottle upright.",
+    "Pick up the bottle with ridges on bottom, route it around the medium shampoo bottle with pump, then stand the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the yellow shampoo with cartoon design, set the narrow-necked bottle upright.",
+    "With the left arm, secure the narrow-necked bottle, pass around the shampoo with green dispensing pump, and set the narrow-necked bottle upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the yellow shampoo bottle, and place the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, steer it around the shampoo with green dispensing pump, and place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the Coca-Cola bottle, pass clear of the yellow bottle with green top, then place the Coca-Cola bottle upright.",
+    "Take the red-capped bottle, move it without nearing the shampoo with green dispensing pump, and stand the red-capped bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the yellow shampoo with cartoon design, and stand the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, keep it from the hand-sized yellow shampoo bottle, and set the medium dark brown bottle upright.",
+    "Pick up the plastic drink bottle with the left arm, keep it away from the yellow shampoo bottle, place the plastic drink bottle upright.",
+    "Lift the long thin bottle, route its path away from the bottle with cartoon label, then set the long thin bottle upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the yellow container with green pump, and stand the hand-sized soda bottle up.",
+    "Using the left arm, grasp the red-capped bottle, move it past the yellow shampoo bottle, then stand the red-capped bottle up.",
+    "Grab the bottle with white neck and red top, move it without crossing the medium shampoo bottle with pump, then place the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, avoid the medium shampoo bottle with pump while moving, then place the medium dark brown bottle upright.",
+    "Move the plastic drink bottle away from the yellow container with green pump as you lift, then place the plastic drink bottle upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the shampoo bottle with rounded body, place the dark drink bottle with logo upright.",
+    "Take the Coca-Cola bottle up, skirt the plastic shampoo bottle with label, and put the Coca-Cola bottle down upright.",
+    "Take the red-capped bottle, keep clear of the hand-sized yellow shampoo bottle, and place the red-capped bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the hand-sized yellow shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the smooth bottle with green top, and stand the Coca-Cola bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the shampoo bottle with handle slot, then set the red-capped bottle upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the yellow bottle with green top while moving, and set the brown bottle with red label upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the shampoo with green dispensing pump, place the hand-sized soda bottle upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the bottle with cartoon label en route, and stand the Coca-Cola bottle up.",
+    "Lift the bottle with white neck and red top, guide it around the yellow bottle with green top, then stand the bottle with white neck and red top upright.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the yellow container with green pump, and place the Coca-Cola bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the bottle with cartoon label, and place the red-capped bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the medium shampoo bottle with pump while moving, and set the bottle with ridges on bottom upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the yellow shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the shampoo with green dispensing pump, and put the medium dark brown bottle upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the yellow shampoo bottle, and put the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the yellow shampoo with cartoon design, then stand the medium dark brown bottle upright.",
+    "Using the left arm, pick the bottle with ridges on bottom up, keep clear of the shampoo bottle with handle slot, place the bottle with ridges on bottom upright.",
+    "Lift the brown bottle with red label, keep its path away from the shampoo with green dispensing pump, and set the brown bottle with red label upright.",
+    "Grab the plastic drink bottle, keep it away from the shampoo bottle with rounded body, and put the plastic drink bottle down upright.",
+    "Lift the smooth bottle with red lid, route it around the shampoo bottle with rounded body, then set the smooth bottle with red lid upright.",
+    "Take the red-capped bottle, route it away from the shampoo with green dispensing pump, and place the red-capped bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the shampoo with green dispensing pump, and place the red-capped bottle upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the yellow shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Pick up the long thin bottle, route it around the medium shampoo bottle with pump, then stand the long thin bottle upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the shampoo bottle with handle slot, set the narrow-necked bottle upright.",
+    "With the left arm, secure the narrow-necked bottle, pass around the medium shampoo bottle with pump, and set the narrow-necked bottle upright.",
+    "With the left arm, take the red-capped bottle up, steer past the yellow container with green pump, and place the red-capped bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the medium shampoo bottle with pump, and place the medium dark brown bottle upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the yellow shampoo bottle, then place the red-capped bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the plastic shampoo bottle with label, and stand the narrow-necked bottle upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the bottle with cartoon label, and stand the bottle with white neck and red top upright.",
+    "Grab the narrow-necked bottle, keep it from the bottle with cartoon label, and set the narrow-necked bottle upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the smooth bottle with green top, place the brown bottle with red label upright.",
+    "Lift the plastic drink bottle, route its path away from the smooth bottle with green top, then set the plastic drink bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the hand-sized yellow shampoo bottle, and stand the dark drink bottle with logo up.",
+    "Using the left arm, grasp the plastic drink bottle, move it past the medium shampoo bottle with pump, then stand the plastic drink bottle up.",
+    "Grab the brown bottle with red label, move it without crossing the yellow shampoo bottle, then place the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, avoid the smooth bottle with green top while moving, then place the hand-sized soda bottle upright.",
+    "Move the plastic drink bottle away from the yellow bottle with green top as you lift, then place the plastic drink bottle upright.",
+    "With the left arm, lift the long thin bottle, keep it away from the bottle with cartoon label, place the long thin bottle upright.",
+    "Take the medium dark brown bottle up, skirt the yellow bottle with green top, and put the medium dark brown bottle down upright.",
+    "Take the Coca-Cola bottle, keep clear of the shampoo bottle with rounded body, and place the Coca-Cola bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the bottle with cartoon label, and set the red-capped bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the smooth bottle with green top, and stand the hand-sized soda bottle upright.",
+    "Lift the plastic drink bottle, keep its path clear of the bottle with cartoon label, then set the plastic drink bottle upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the bottle with cartoon label while moving, and set the dark drink bottle with logo upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the medium shampoo bottle with pump, place the smooth bottle with red lid upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the plastic shampoo bottle with label en route, and stand the smooth bottle with red lid up.",
+    "Lift the smooth bottle with red lid, guide it around the medium shampoo bottle with pump, then stand the smooth bottle with red lid upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the hand-sized yellow shampoo bottle, and place the plastic drink bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the shampoo bottle with rounded body, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, avoid the shampoo with green dispensing pump while moving, and set the bottle with white neck and red top upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the medium shampoo bottle with pump, then place the bottle with white neck and red top upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the shampoo with green dispensing pump, and put the dark drink bottle with logo upright.",
+    "With the left arm, take the long thin bottle, pass outside the yellow bottle with green top, and put the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the yellow shampoo with cartoon design, then stand the bottle with white neck and red top upright.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the shampoo bottle with rounded body, place the Coca-Cola bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the yellow shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Grab the Coca-Cola bottle, keep it away from the yellow shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Lift the Coca-Cola bottle, route it around the plastic shampoo bottle with label, then set the Coca-Cola bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the shampoo bottle with handle slot, and place the Coca-Cola bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the yellow container with green pump, and place the red-capped bottle upright.",
+    "Grip the Coca-Cola bottle with the left arm, keep distance from the yellow shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the shampoo bottle with handle slot, then stand the bottle with white neck and red top upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the yellow shampoo with cartoon design, set the bottle with ridges on bottom upright.",
+    "With the left arm, secure the brown bottle with red label, pass around the yellow shampoo bottle, and set the brown bottle with red label upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the yellow bottle with green top, and place the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode29.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa028b841af70e672e5f577d1ad6db6400d7d9f1
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the long thin bottle, move it without nearing the bottle light blue rounded shape, and stand the long thin bottle upright.",
+    "Pick up the long thin bottle, route it around the blue shampoo bottle slender design, then stand the long thin bottle upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the small smooth shampoo bottle, place the Coca-Cola bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the hand-sized shampoo bottle, place the medium dark brown bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the blue shampoo bottle, and put the plastic drink bottle upright.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the bottle light blue rounded shape, and place the Coca-Cola bottle upright.",
+    "Pick up the long thin bottle, swing wide around the shampoo bottle tapered toward cap, and set the long thin bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the bottle light blue rounded shape, then place the smooth bottle with red lid upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the bottle of shampoo, and set the bottle with white neck and red top upright.",
+    "Use the left arm, raise the medium dark brown bottle, keep distance from the bottle light blue rounded shape, then place the medium dark brown bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the blue shampoo bottle slender design en route, and stand the hand-sized soda bottle up.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the bottle of shampoo, place the Coca-Cola bottle upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the bottle light blue rounded shape while moving, and set the medium dark brown bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the bottle of shampoo, and stand the red-capped bottle up.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the light blue shampoo bottle small size, and place the Coca-Cola bottle upright.",
+    "Lift the plastic drink bottle, route it around the shampoo bottle tapered toward cap, then set the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the hand-sized shampoo bottle, then place the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, keep it from the shampoo bottle with white cap, and set the hand-sized soda bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the shampoo bottle tapered toward cap, then set the Coca-Cola bottle upright.",
+    "Grab the red-capped bottle, steer it around the hand-sized shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the brown bottle with red label, carry it around the bottle of shampoo, then stand the brown bottle with red label upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the hand-sized shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Lift the medium dark brown bottle, route its path away from the small smooth shampoo bottle, then set the medium dark brown bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the shampoo bottle flat bottom edge, and stand the hand-sized soda bottle upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the bottle light blue rounded shape, place the dark drink bottle with logo upright.",
+    "Take the dark drink bottle with logo, route it away from the bottle light blue rounded shape, and place the dark drink bottle with logo upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the shampoo bottle with white cap while moving, and set the medium dark brown bottle upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the shampoo bottle tapered toward cap, then set the red-capped bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the bottle light blue rounded shape, then stand the medium dark brown bottle up.",
+    "With the left arm, pick the plastic drink bottle up, avoid the small smooth shampoo bottle, and put the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, avoid the bottle of shampoo while moving, then place the plastic drink bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the bottle light blue rounded shape, and set the dark drink bottle with logo upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the hand-sized shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the curved light blue shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Take the plastic drink bottle, keep clear of the curved light blue shampoo bottle, and place the plastic drink bottle upright.",
+    "Lift the long thin bottle, guide it around the shampoo bottle with matte plastic, then stand the long thin bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the shampoo bottle with matte plastic, set the brown bottle with red label upright.",
+    "Take the dark drink bottle with logo up, skirt the bottle of shampoo, and put the dark drink bottle with logo down upright.",
+    "Move the dark drink bottle with logo away from the shampoo bottle with white cap as you lift, then place the dark drink bottle with logo upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the curved light blue shampoo bottle, and place the plastic drink bottle upright.",
+    "Take the medium dark brown bottle, move it without nearing the curved light blue shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Pick up the narrow-necked bottle, route it around the hand-sized shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Pick up the narrow-necked bottle with the left arm, keep it away from the bottle of shampoo, place the narrow-necked bottle upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the shampoo bottle with white cap, place the Coca-Cola bottle upright.",
+    "With the left arm, take the red-capped bottle, pass outside the blue shampoo bottle slender design, and put the red-capped bottle upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the bottle light blue rounded shape, and place the red-capped bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the hand-sized shampoo bottle, and set the narrow-necked bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, pass clear of the bottle of shampoo, then place the Coca-Cola bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the curved light blue shampoo bottle, and set the plastic drink bottle upright.",
+    "Use the left arm, raise the medium dark brown bottle, keep distance from the hand-sized shampoo bottle, then place the medium dark brown bottle upright.",
+    "Use the left arm to lift the medium dark brown bottle, avoid the shampoo bottle tapered toward cap en route, and stand the medium dark brown bottle up.",
+    "With the left arm, lift the long thin bottle, keep it away from the hand-sized shampoo bottle, place the long thin bottle upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the blue shampoo bottle slender design while moving, and set the medium dark brown bottle upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the curved light blue shampoo bottle, and stand the long thin bottle up.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the shampoo bottle with white cap, and place the bottle with white neck and red top upright.",
+    "Lift the plastic drink bottle, route it around the bottle of shampoo, then set the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the shampoo bottle with white cap, then place the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the curved light blue shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the blue shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Grab the plastic drink bottle, steer it around the bottle of shampoo, and place the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, carry it around the shampoo bottle with matte plastic, then stand the dark drink bottle with logo upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the bottle light blue rounded shape, and place the medium dark brown bottle upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle with white cap, then set the hand-sized soda bottle upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the bottle light blue rounded shape, and stand the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the light blue shampoo bottle small size, place the Coca-Cola bottle upright.",
+    "Take the dark drink bottle with logo, route it away from the shampoo bottle flat bottom edge, and place the dark drink bottle with logo upright.",
+    "With the left arm, take the bottle with white neck and red top, avoid the light blue shampoo bottle small size while moving, and set the bottle with white neck and red top upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the small smooth shampoo bottle, then set the narrow-necked bottle upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the curved light blue shampoo bottle, then stand the brown bottle with red label up.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the blue shampoo bottle, and put the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the curved light blue shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the shampoo bottle tapered toward cap, and set the bottle with white neck and red top upright.",
+    "Grab the red-capped bottle, keep it away from the curved light blue shampoo bottle, and put the red-capped bottle down upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the blue shampoo bottle slender design, and stand the long thin bottle upright.",
+    "Take the smooth bottle with red lid, keep clear of the light blue shampoo bottle small size, and place the smooth bottle with red lid upright.",
+    "Lift the bottle with ridges on bottom, guide it around the shampoo bottle tapered toward cap, then stand the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the shampoo bottle with matte plastic, set the red-capped bottle upright.",
+    "Take the bottle with white neck and red top up, skirt the shampoo bottle tapered toward cap, and put the bottle with white neck and red top down upright.",
+    "Move the red-capped bottle away from the curved light blue shampoo bottle as you lift, then place the red-capped bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the curved light blue shampoo bottle, and place the medium dark brown bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the shampoo bottle with white cap, and stand the narrow-necked bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo bottle tapered toward cap, then stand the dark drink bottle with logo upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the shampoo bottle with white cap, place the smooth bottle with red lid upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the bottle of shampoo, place the hand-sized soda bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the shampoo bottle flat bottom edge, and put the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the curved light blue shampoo bottle, and place the medium dark brown bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the bottle light blue rounded shape, and set the plastic drink bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the shampoo bottle with matte plastic, then place the bottle with white neck and red top upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the shampoo bottle tapered toward cap, and set the smooth bottle with red lid upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the curved light blue shampoo bottle, then place the long thin bottle upright.",
+    "Use the left arm to lift the plastic drink bottle, avoid the shampoo bottle with white cap en route, and stand the plastic drink bottle up.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the blue shampoo bottle slender design, place the brown bottle with red label upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the hand-sized shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the hand-sized shampoo bottle, and stand the narrow-necked bottle up.",
+    "Guide the left arm to take the brown bottle with red label, bypass the curved light blue shampoo bottle, and place the brown bottle with red label upright.",
+    "Lift the brown bottle with red label, route it around the shampoo bottle tapered toward cap, then set the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the small smooth shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the blue shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the blue shampoo bottle, then set the narrow-necked bottle upright.",
+    "Grab the smooth bottle with red lid, steer it around the blue shampoo bottle, and place the smooth bottle with red lid upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode3.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..93646e0a1288b46cfd1928fa31f7cb665f094349
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the narrow-necked bottle up, avoid the yellow shampoo with cartoon design, and put the narrow-necked bottle upright.",
+    "Lift the bottle with white neck and red top, route it around the bottle with cartoon label, then set the bottle with white neck and red top upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the plastic shampoo bottle with label, place the hand-sized soda bottle upright.",
+    "Take the hand-sized soda bottle, move it without nearing the medium shampoo bottle with pump, and stand the hand-sized soda bottle upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the yellow container with green pump, place the dark drink bottle with logo upright.",
+    "Take the medium dark brown bottle up, skirt the smooth bottle with green top, and put the medium dark brown bottle down upright.",
+    "Pick up the hand-sized soda bottle, route it around the plastic shampoo bottle with label, then stand the hand-sized soda bottle upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the bottle with cartoon label, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the brown bottle with red label, avoid the shampoo bottle with handle slot while moving, and set the brown bottle with red label upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the shampoo bottle with rounded body, and set the medium dark brown bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the yellow container with green pump, then stand the red-capped bottle up.",
+    "Move the plastic drink bottle from its spot, skirt the shampoo with green dispensing pump, and stand the plastic drink bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the yellow shampoo with cartoon design, and put the plastic drink bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the yellow shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the narrow-necked bottle, keep it from the yellow shampoo with cartoon design, and set the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, guide it around the hand-sized yellow shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Guide the left arm to take the long thin bottle, bypass the shampoo with green dispensing pump, and place the long thin bottle upright.",
+    "Take the bottle with ridges on bottom, route it away from the shampoo with green dispensing pump, and place the bottle with ridges on bottom upright.",
+    "Pick up the narrow-necked bottle, swing wide around the yellow shampoo with cartoon design, and set the narrow-necked bottle upright.",
+    "With the left arm, take the red-capped bottle up, steer past the bottle with cartoon label, and place the red-capped bottle upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the shampoo bottle with rounded body, place the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, avoid the smooth bottle with green top while moving, then place the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, carry it around the bottle with cartoon label, then stand the red-capped bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the yellow shampoo with cartoon design, then place the hand-sized soda bottle upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the medium shampoo bottle with pump, and stand the brown bottle with red label up.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the plastic shampoo bottle with label while moving, and set the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, route its path away from the yellow container with green pump, then set the narrow-necked bottle upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the bottle with cartoon label, then set the medium dark brown bottle upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the yellow container with green pump, and stand the hand-sized soda bottle upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the smooth bottle with green top, then set the hand-sized soda bottle upright.",
+    "Take the Coca-Cola bottle, keep clear of the shampoo bottle with handle slot, and place the Coca-Cola bottle upright.",
+    "Use the left arm to lift the red-capped bottle, avoid the shampoo with green dispensing pump en route, and stand the red-capped bottle up.",
+    "Grab the long thin bottle, keep it away from the yellow container with green pump, and put the long thin bottle down upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the medium shampoo bottle with pump, then place the bottle with ridges on bottom upright.",
+    "Grab the red-capped bottle, steer it around the yellow container with green pump, and place the red-capped bottle upright.",
+    "Pick up the bottle with ridges on bottom with the left arm, keep it away from the shampoo with green dispensing pump, place the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the yellow shampoo bottle, set the smooth bottle with red lid upright.",
+    "Move the smooth bottle with red lid away from the plastic shampoo bottle with label as you lift, then place the smooth bottle with red lid upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the yellow container with green pump, and set the bottle with white neck and red top upright.",
+    "Grab the long thin bottle, move it without crossing the shampoo with green dispensing pump, then place the long thin bottle upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the yellow shampoo with cartoon design, and put the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, route it around the shampoo bottle with rounded body, then set the smooth bottle with red lid upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the yellow shampoo with cartoon design, place the hand-sized soda bottle upright.",
+    "Take the medium dark brown bottle, move it without nearing the yellow shampoo bottle, and stand the medium dark brown bottle upright.",
+    "With the left arm, lift the long thin bottle, keep it away from the plastic shampoo bottle with label, place the long thin bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the shampoo with green dispensing pump, and put the hand-sized soda bottle down upright.",
+    "Pick up the bottle with white neck and red top, route it around the shampoo with green dispensing pump, then stand the bottle with white neck and red top upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the hand-sized yellow shampoo bottle, and place the red-capped bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the medium shampoo bottle with pump while moving, and set the bottle with ridges on bottom upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the shampoo bottle with handle slot, and set the bottle with ridges on bottom upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the yellow container with green pump, then stand the bottle with ridges on bottom up.",
+    "Move the dark drink bottle with logo from its spot, skirt the yellow shampoo with cartoon design, and stand the dark drink bottle with logo upright.",
+    "With the left arm, take the medium dark brown bottle, pass outside the medium shampoo bottle with pump, and put the medium dark brown bottle upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the bottle with cartoon label, and place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the hand-sized yellow shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Lift the long thin bottle, guide it around the hand-sized yellow shampoo bottle, then stand the long thin bottle upright.",
+    "Guide the left arm to take the brown bottle with red label, bypass the plastic shampoo bottle with label, and place the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top, route it away from the yellow container with green pump, and place the bottle with white neck and red top upright.",
+    "Pick up the narrow-necked bottle, swing wide around the yellow shampoo with cartoon design, and set the narrow-necked bottle upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the medium shampoo bottle with pump, and place the smooth bottle with red lid upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the medium shampoo bottle with pump, place the dark drink bottle with logo upright.",
+    "Grab the smooth bottle with red lid, avoid the yellow container with green pump while moving, then place the smooth bottle with red lid upright.",
+    "Grab the medium dark brown bottle, carry it around the yellow container with green pump, then stand the medium dark brown bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the smooth bottle with green top, then place the hand-sized soda bottle upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the medium shampoo bottle with pump, and stand the long thin bottle up.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the shampoo bottle with rounded body while moving, and set the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, route its path away from the yellow shampoo with cartoon design, then set the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the yellow shampoo with cartoon design, then set the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the plastic shampoo bottle with label, and stand the hand-sized soda bottle upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the yellow container with green pump, then set the narrow-necked bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the yellow bottle with green top, and place the bottle with ridges on bottom upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the yellow bottle with green top en route, and stand the smooth bottle with red lid up.",
+    "Grab the hand-sized soda bottle, keep it away from the shampoo with green dispensing pump, and put the hand-sized soda bottle down upright.",
+    "Use the left arm, raise the brown bottle with red label, keep distance from the hand-sized yellow shampoo bottle, then place the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, steer it around the yellow shampoo with cartoon design, and place the narrow-necked bottle upright.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the shampoo bottle with handle slot, place the dark drink bottle with logo upright.",
+    "Use the left arm to grab the dark drink bottle with logo, carry it away from the yellow shampoo bottle, set the dark drink bottle with logo upright.",
+    "Move the dark drink bottle with logo away from the shampoo bottle with rounded body as you lift, then place the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, keep its path away from the plastic shampoo bottle with label, and set the medium dark brown bottle upright.",
+    "Grab the long thin bottle, move it without crossing the yellow bottle with green top, then place the long thin bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the bottle with cartoon label, and put the long thin bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the shampoo bottle with handle slot, then set the smooth bottle with red lid upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the yellow container with green pump, place the medium dark brown bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the shampoo bottle with rounded body, and stand the smooth bottle with red lid upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the hand-sized yellow shampoo bottle, place the hand-sized soda bottle upright.",
+    "Take the medium dark brown bottle up, skirt the yellow container with green pump, and put the medium dark brown bottle down upright.",
+    "Pick up the long thin bottle, route it around the yellow container with green pump, then stand the long thin bottle upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the hand-sized yellow shampoo bottle, and place the dark drink bottle with logo upright.",
+    "With the left arm, take the plastic drink bottle, avoid the yellow shampoo bottle while moving, and set the plastic drink bottle upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the shampoo with green dispensing pump, and set the hand-sized soda bottle upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the yellow bottle with green top, then stand the dark drink bottle with logo up.",
+    "Move the hand-sized soda bottle from its spot, skirt the plastic shampoo bottle with label, and stand the hand-sized soda bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the hand-sized yellow shampoo bottle, and put the hand-sized soda bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, keep clear of the yellow shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, keep it from the yellow container with green pump, and set the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the shampoo bottle with handle slot, then stand the medium dark brown bottle upright.",
+    "Guide the left arm to take the plastic drink bottle, bypass the hand-sized yellow shampoo bottle, and place the plastic drink bottle upright.",
+    "Take the plastic drink bottle, route it away from the yellow container with green pump, and place the plastic drink bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the yellow shampoo bottle, and set the bottle with white neck and red top upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the shampoo bottle with rounded body, and place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode30.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a4af4dc79cf6860cb2adf0776967199619e3a6d
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth bottle with red lid, steer it around the medium shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Move the bottle with ridges on bottom away from the shampoo bottle with pink cap as you lift, then place the bottle with ridges on bottom upright.",
+    "Use the right arm to lift the bottle with white neck and red top, avoid the shampoo dispenser with flat base en route, and stand the bottle with white neck and red top up.",
+    "Pick up the dark drink bottle with logo with the right arm, keep it away from the hand-sized shampoo bottle, place the dark drink bottle with logo upright.",
+    "Direct the right arm to pick the red-capped bottle up, avoid the shampoo dispenser with flat base, and stand the red-capped bottle upright.",
+    "Take the long thin bottle, move it without nearing the hand-sized shampoo bottle, and stand the long thin bottle upright.",
+    "Use the right arm, raise the dark drink bottle with logo, keep distance from the glossy white shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Grab the bottle with white neck and red top, keep it away from the oval-shaped shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the white body pink flip cap bottle, place the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, avoid the shampoo dispenser with flat base while moving, then place the Coca-Cola bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the white shampoo bottle, and set the narrow-necked bottle upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the shampoo dispenser with flat base, and put the plastic drink bottle upright.",
+    "Have the right arm grasp the bottle with white neck and red top, avoid the oval-shaped shampoo bottle while moving, and set the bottle with white neck and red top upright.",
+    "Use the right arm to pick the red-capped bottle up, avoid the oval-shaped shampoo bottle, and place the red-capped bottle upright.",
+    "With the right arm, secure the dark drink bottle with logo, pass around the hand-sized shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Pick up the hand-sized soda bottle, route it around the smooth white shampoo dispenser, then stand the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the shampoo dispenser with flat base, then place the brown bottle with red label upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the shampoo bottle with pink cap, and stand the bottle with ridges on bottom upright.",
+    "Using the right arm, pick the bottle with white neck and red top up, keep clear of the pink-topped shampoo bottle, place the bottle with white neck and red top upright.",
+    "Using the right arm, grasp the medium dark brown bottle, move it past the medium shampoo bottle, then stand the medium dark brown bottle up.",
+    "With the right arm, take the narrow-necked bottle, avoid the white body pink flip cap bottle while moving, and set the narrow-necked bottle upright.",
+    "With the right arm, take the medium dark brown bottle up, steer past the shampoo dispenser with flat base, and place the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the shampoo dispenser with flat base, and set the smooth bottle with red lid upright.",
+    "Grip the dark drink bottle with logo with the right arm, keep distance from the smooth white shampoo dispenser, then set the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, route its path away from the smooth white shampoo dispenser, then set the smooth bottle with red lid upright.",
+    "Grab the dark drink bottle with logo, carry it around the shampoo dispenser with flat base, then stand the dark drink bottle with logo upright.",
+    "Take the bottle with white neck and red top, keep clear of the smooth white shampoo dispenser, and place the bottle with white neck and red top upright.",
+    "Using the right arm, lift the bottle with white neck and red top, keep clear of the plastic shampoo container, and place the bottle with white neck and red top upright.",
+    "Lift the plastic drink bottle, keep its path clear of the medium oval plastic shampoo container, then set the plastic drink bottle upright.",
+    "Take the narrow-necked bottle, route it away from the oval-shaped shampoo bottle, and place the narrow-necked bottle upright.",
+    "Guide the right arm to take the medium dark brown bottle, bypass the hand-sized shampoo bottle, and place the medium dark brown bottle upright.",
+    "Use the right arm to grab the Coca-Cola bottle, carry it away from the smooth white shampoo dispenser, set the Coca-Cola bottle upright.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the white body pink flip cap bottle, place the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, guide it around the medium shampoo bottle, then stand the red-capped bottle upright.",
+    "Using the right arm, lift the dark drink bottle with logo, pass clear of the medium shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the right arm, take the bottle with ridges on bottom, pass outside the hand-sized shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "With the right arm, pick up the bottle with white neck and red top, steer away from the white body pink flip cap bottle, and stand the bottle with white neck and red top up.",
+    "Take the plastic drink bottle up, skirt the shampoo dispenser with flat base, and put the plastic drink bottle down upright.",
+    "Lift the bottle with ridges on bottom, route it around the oval-shaped shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Lift the medium dark brown bottle, keep its path away from the oval-shaped shampoo bottle, and set the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, steer it around the oval-shaped shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Move the plastic drink bottle away from the pink-topped shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "Use the right arm to lift the plastic drink bottle, avoid the white body pink flip cap bottle en route, and stand the plastic drink bottle up.",
+    "Pick up the bottle with white neck and red top with the right arm, keep it away from the oval-shaped shampoo bottle, place the bottle with white neck and red top upright.",
+    "Direct the right arm to pick the Coca-Cola bottle up, avoid the white shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Take the long thin bottle, move it without nearing the oval-shaped shampoo bottle, and stand the long thin bottle upright.",
+    "Use the right arm, raise the brown bottle with red label, keep distance from the white body pink flip cap bottle, then place the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, keep it away from the white body pink flip cap bottle, and put the narrow-necked bottle down upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the shampoo dispenser with flat base, place the smooth bottle with red lid upright.",
+    "Grab the long thin bottle, avoid the smooth white shampoo dispenser while moving, then place the long thin bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the white body pink flip cap bottle, and set the dark drink bottle with logo upright.",
+    "With the right arm, pick the hand-sized soda bottle up, avoid the oval-shaped shampoo bottle, and put the hand-sized soda bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the hand-sized shampoo bottle while moving, and set the long thin bottle upright.",
+    "Use the right arm to pick the brown bottle with red label up, avoid the pink-topped shampoo bottle, and place the brown bottle with red label upright.",
+    "With the right arm, secure the smooth bottle with red lid, pass around the shampoo dispenser with flat base, and set the smooth bottle with red lid upright.",
+    "Pick up the red-capped bottle, route it around the hand-sized shampoo bottle, then stand the red-capped bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the oval-shaped shampoo bottle, then place the plastic drink bottle upright.",
+    "Move the brown bottle with red label from its spot, skirt the medium oval plastic shampoo container, and stand the brown bottle with red label upright.",
+    "Using the right arm, pick the Coca-Cola bottle up, keep clear of the shampoo dispenser with flat base, place the Coca-Cola bottle upright.",
+    "Using the right arm, grasp the long thin bottle, move it past the shampoo bottle with pink cap, then stand the long thin bottle up.",
+    "With the right arm, take the long thin bottle, avoid the oval-shaped shampoo bottle while moving, and set the long thin bottle upright.",
+    "With the right arm, take the brown bottle with red label up, steer past the pink-topped shampoo bottle, and place the brown bottle with red label upright.",
+    "Grab the red-capped bottle, keep it from the white shampoo bottle, and set the red-capped bottle upright.",
+    "Grip the Coca-Cola bottle with the right arm, keep distance from the pink-topped shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the glossy white shampoo bottle, then set the narrow-necked bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the smooth white shampoo dispenser, then stand the smooth bottle with red lid upright.",
+    "Take the bottle with ridges on bottom, keep clear of the medium oval plastic shampoo container, and place the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the smooth bottle with red lid, keep clear of the smooth white shampoo dispenser, and place the smooth bottle with red lid upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the medium shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Take the medium dark brown bottle, route it away from the oval-shaped shampoo bottle, and place the medium dark brown bottle upright.",
+    "Guide the right arm to take the bottle with white neck and red top, bypass the oval-shaped shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Use the right arm to grab the plastic drink bottle, carry it away from the white body pink flip cap bottle, set the plastic drink bottle upright.",
+    "With the right arm, lift the medium dark brown bottle, keep it away from the smooth white shampoo dispenser, place the medium dark brown bottle upright.",
+    "Lift the narrow-necked bottle, guide it around the medium oval plastic shampoo container, then stand the narrow-necked bottle upright.",
+    "Using the right arm, lift the dark drink bottle with logo, pass clear of the medium shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the medium shampoo bottle, and put the bottle with white neck and red top upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the smooth white shampoo dispenser, and stand the Coca-Cola bottle up.",
+    "Take the long thin bottle up, skirt the oval-shaped shampoo bottle, and put the long thin bottle down upright.",
+    "Lift the brown bottle with red label, route it around the plastic shampoo container, then set the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, keep its path away from the shampoo bottle with pink cap, and set the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, steer it around the medium oval plastic shampoo container, and place the red-capped bottle upright.",
+    "Move the long thin bottle away from the medium oval plastic shampoo container as you lift, then place the long thin bottle upright.",
+    "Use the right arm to lift the bottle with ridges on bottom, avoid the shampoo bottle with pink cap en route, and stand the bottle with ridges on bottom up.",
+    "Pick up the bottle with ridges on bottom with the right arm, keep it away from the medium shampoo bottle, place the bottle with ridges on bottom upright.",
+    "Direct the right arm to pick the smooth bottle with red lid up, avoid the shampoo bottle with pink cap, and stand the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, move it without nearing the white shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the shampoo bottle with pink cap, then place the Coca-Cola bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the pink-topped shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the smooth white shampoo dispenser, place the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, avoid the shampoo dispenser with flat base while moving, then place the plastic drink bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the white body pink flip cap bottle, and set the bottle with white neck and red top upright.",
+    "With the right arm, pick the long thin bottle up, avoid the medium oval plastic shampoo container, and put the long thin bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the white shampoo bottle while moving, and set the long thin bottle upright.",
+    "Use the right arm to pick the smooth bottle with red lid up, avoid the glossy white shampoo bottle, and place the smooth bottle with red lid upright.",
+    "With the right arm, secure the dark drink bottle with logo, pass around the white shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle, route it around the medium oval plastic shampoo container, then stand the narrow-necked bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the medium shampoo bottle, then place the brown bottle with red label upright.",
+    "Move the plastic drink bottle from its spot, skirt the white shampoo bottle, and stand the plastic drink bottle upright.",
+    "Using the right arm, pick the bottle with white neck and red top up, keep clear of the oval-shaped shampoo bottle, place the bottle with white neck and red top upright.",
+    "Using the right arm, grasp the plastic drink bottle, move it past the pink-topped shampoo bottle, then stand the plastic drink bottle up."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode31.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cec047a0d215b14f4e07f7f63fe0f4a648f38f2
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium green bottle, keep its path away from the yellow bottle with green top, and set the medium green bottle upright.",
+    "Pick up the medium-sized green bottle with the right arm, keep it away from the shampoo with green dispensing pump, place the medium-sized green bottle upright.",
+    "Grab the handheld green bottle, move it without crossing the smooth bottle with green top, then place the handheld green bottle upright.",
+    "With the right arm, lift the smooth green bottle, keep it away from the shampoo bottle with handle slot, place the smooth green bottle upright.",
+    "With the right arm, secure the smooth green bottle, pass around the yellow shampoo with cartoon design, and set the smooth green bottle upright.",
+    "Pick the bottle with ridges near base up, keep its path clear of the shampoo bottle with handle slot, place the bottle with ridges near base upright.",
+    "Take the medium-sized green bottle up, skirt the shampoo bottle with handle slot, and put the medium-sized green bottle down upright.",
+    "Have the right arm grasp the green bottle with indented base, avoid the yellow shampoo with cartoon design while moving, and set the green bottle with indented base upright.",
+    "Grip the medium-sized green bottle with the right arm, keep distance from the shampoo with green dispensing pump, then set the medium-sized green bottle upright.",
+    "With the right arm, pick the bottle with white printed label up, avoid the yellow container with green pump, and put the bottle with white printed label upright.",
+    "Lift the bottle with narrow top, route it around the yellow container with green pump, then set the bottle with narrow top upright.",
+    "Using the right arm, pick the bottle with white printed label up, keep clear of the hand-sized yellow shampoo bottle, place the bottle with white printed label upright.",
+    "Take the bottle with white printed label, keep clear of the bottle with cartoon label, and place the bottle with white printed label upright.",
+    "Use the right arm to pick the bottle with rounded neck up, avoid the yellow shampoo bottle, and place the bottle with rounded neck upright.",
+    "With the right arm, take the plastic bottle up, steer past the hand-sized yellow shampoo bottle, and place the plastic bottle upright.",
+    "Pick up the medium green bottle with capped neck, swing wide around the plastic shampoo bottle with label, and set the medium green bottle with capped neck upright.",
+    "Grab the bottle with white printed label, keep it away from the yellow container with green pump, and put the bottle with white printed label down upright.",
+    "Grab the handheld green bottle, carry it around the shampoo bottle with handle slot, then stand the handheld green bottle upright.",
+    "Pick up the smooth green plastic bottle, route it around the medium shampoo bottle with pump, then stand the smooth green plastic bottle upright.",
+    "Use the right arm, raise the bottle with ridges near base, keep distance from the yellow bottle with green top, then place the bottle with ridges near base upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the shampoo bottle with handle slot, then set the medium green bottle with capped neck upright.",
+    "Guide the right arm to take the bottle with white printed label, bypass the shampoo bottle with handle slot, and place the bottle with white printed label upright.",
+    "Lift the bottle with ridges near base, route its path away from the yellow shampoo with cartoon design, then set the bottle with ridges near base upright.",
+    "With the right arm, take the bottle with narrow top, avoid the shampoo bottle with rounded body while moving, and set the bottle with narrow top upright.",
+    "With the right arm, take the plastic bottle, pass outside the yellow bottle with green top, and put the plastic bottle upright.",
+    "Grab the medium green bottle, avoid the smooth bottle with green top while moving, then place the medium green bottle upright.",
+    "Use the right arm to lift the bottle with white printed label, avoid the shampoo bottle with rounded body en route, and stand the bottle with white printed label up.",
+    "Take the smooth green bottle, route it away from the shampoo with green dispensing pump, and place the smooth green bottle upright.",
+    "Grab the bottle with rounded neck, keep it from the yellow container with green pump, and set the bottle with rounded neck upright.",
+    "Using the right arm, lift the bottle with narrow top, pass clear of the yellow shampoo with cartoon design, then place the bottle with narrow top upright.",
+    "Using the right arm, grasp the smooth green bottle, move it past the smooth bottle with green top, then stand the smooth green bottle up.",
+    "Direct the right arm to pick the medium green bottle up, avoid the bottle with cartoon label, and stand the medium green bottle upright.",
+    "Move the bottle with white printed label away from the plastic shampoo bottle with label as you lift, then place the bottle with white printed label upright.",
+    "Lift the plastic bottle, guide it around the bottle with cartoon label, then stand the plastic bottle upright.",
+    "Grab the bottle with white printed label, steer it around the shampoo with green dispensing pump, and place the bottle with white printed label upright.",
+    "Use the right arm to grab the bottle with rounded neck, carry it away from the medium shampoo bottle with pump, set the bottle with rounded neck upright.",
+    "Move the green bottle with indented base from its spot, skirt the yellow container with green pump, and stand the green bottle with indented base upright.",
+    "With the right arm, pick up the smooth green plastic bottle, steer away from the smooth bottle with green top, and stand the smooth green plastic bottle up.",
+    "Take the medium green bottle, move it without nearing the bottle with cartoon label, and stand the medium green bottle upright.",
+    "Using the right arm, lift the bottle with rounded neck, keep clear of the yellow shampoo bottle, and place the bottle with rounded neck upright.",
+    "Lift the bottle with white printed label, keep its path away from the shampoo bottle with handle slot, and set the bottle with white printed label upright.",
+    "Pick up the medium green bottle with capped neck with the right arm, keep it away from the medium shampoo bottle with pump, place the medium green bottle with capped neck upright.",
+    "Grab the bottle with narrow top, move it without crossing the shampoo bottle with handle slot, then place the bottle with narrow top upright.",
+    "With the right arm, lift the medium green bottle with capped neck, keep it away from the hand-sized yellow shampoo bottle, place the medium green bottle with capped neck upright.",
+    "With the right arm, secure the smooth green plastic bottle, pass around the yellow bottle with green top, and set the smooth green plastic bottle upright.",
+    "Pick the plastic bottle up, keep its path clear of the yellow container with green pump, place the plastic bottle upright.",
+    "Take the smooth green bottle up, skirt the yellow container with green pump, and put the smooth green bottle down upright.",
+    "Have the right arm grasp the handheld green bottle, avoid the shampoo bottle with handle slot while moving, and set the handheld green bottle upright.",
+    "Grip the smooth green bottle with the right arm, keep distance from the plastic shampoo bottle with label, then set the smooth green bottle upright.",
+    "With the right arm, pick the bottle with narrow top up, avoid the bottle with cartoon label, and put the bottle with narrow top upright.",
+    "Lift the bottle with ridges near base, route it around the yellow shampoo bottle, then set the bottle with ridges near base upright.",
+    "Using the right arm, pick the bottle with ridges near base up, keep clear of the hand-sized yellow shampoo bottle, place the bottle with ridges near base upright.",
+    "Take the handheld green bottle, keep clear of the bottle with cartoon label, and place the handheld green bottle upright.",
+    "Use the right arm to pick the plastic bottle up, avoid the shampoo with green dispensing pump, and place the plastic bottle upright.",
+    "With the right arm, take the medium green bottle up, steer past the yellow container with green pump, and place the medium green bottle upright.",
+    "Pick up the plastic bottle, swing wide around the shampoo bottle with handle slot, and set the plastic bottle upright.",
+    "Grab the green bottle with indented base, keep it away from the shampoo bottle with rounded body, and put the green bottle with indented base down upright.",
+    "Grab the bottle with ridges near base, carry it around the plastic shampoo bottle with label, then stand the bottle with ridges near base upright.",
+    "Pick up the medium green bottle with capped neck, route it around the shampoo bottle with handle slot, then stand the medium green bottle with capped neck upright.",
+    "Use the right arm, raise the bottle with rounded neck, keep distance from the bottle with cartoon label, then place the bottle with rounded neck upright.",
+    "Lift the bottle with white printed label, keep its path clear of the plastic shampoo bottle with label, then set the bottle with white printed label upright.",
+    "Guide the right arm to take the handheld green bottle, bypass the shampoo bottle with handle slot, and place the handheld green bottle upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the yellow bottle with green top, then set the medium green bottle with capped neck upright.",
+    "With the right arm, take the plastic bottle, avoid the hand-sized yellow shampoo bottle while moving, and set the plastic bottle upright.",
+    "With the right arm, take the medium-sized green bottle, pass outside the shampoo with green dispensing pump, and put the medium-sized green bottle upright.",
+    "Grab the medium green bottle with capped neck, avoid the smooth bottle with green top while moving, then place the medium green bottle with capped neck upright.",
+    "Use the right arm to lift the bottle with white printed label, avoid the bottle with cartoon label en route, and stand the bottle with white printed label up.",
+    "Take the medium-sized green bottle, route it away from the shampoo bottle with handle slot, and place the medium-sized green bottle upright.",
+    "Grab the green bottle with indented base, keep it from the shampoo bottle with handle slot, and set the green bottle with indented base upright.",
+    "Using the right arm, lift the medium green bottle, pass clear of the yellow bottle with green top, then place the medium green bottle upright.",
+    "Using the right arm, grasp the smooth green bottle, move it past the yellow shampoo with cartoon design, then stand the smooth green bottle up.",
+    "Direct the right arm to pick the medium-sized green bottle up, avoid the shampoo bottle with rounded body, and stand the medium-sized green bottle upright.",
+    "Move the green bottle with indented base away from the shampoo bottle with handle slot as you lift, then place the green bottle with indented base upright.",
+    "Lift the medium-sized green bottle, guide it around the yellow bottle with green top, then stand the medium-sized green bottle upright.",
+    "Grab the smooth green plastic bottle, steer it around the yellow shampoo with cartoon design, and place the smooth green plastic bottle upright.",
+    "Use the right arm to grab the handheld green bottle, carry it away from the yellow shampoo bottle, set the handheld green bottle upright.",
+    "Move the medium green bottle from its spot, skirt the bottle with cartoon label, and stand the medium green bottle upright.",
+    "With the right arm, pick up the bottle with rounded neck, steer away from the hand-sized yellow shampoo bottle, and stand the bottle with rounded neck up.",
+    "Take the bottle with white printed label, move it without nearing the yellow bottle with green top, and stand the bottle with white printed label upright.",
+    "Using the right arm, lift the bottle with narrow top, keep clear of the shampoo with green dispensing pump, and place the bottle with narrow top upright.",
+    "Lift the plastic bottle, keep its path away from the plastic shampoo bottle with label, and set the plastic bottle upright.",
+    "Pick up the bottle with ridges near base with the right arm, keep it away from the plastic shampoo bottle with label, place the bottle with ridges near base upright.",
+    "Grab the bottle with ridges near base, move it without crossing the shampoo bottle with handle slot, then place the bottle with ridges near base upright.",
+    "With the right arm, lift the plastic bottle, keep it away from the yellow shampoo with cartoon design, place the plastic bottle upright.",
+    "With the right arm, secure the bottle with rounded neck, pass around the yellow bottle with green top, and set the bottle with rounded neck upright.",
+    "Pick the medium-sized green bottle up, keep its path clear of the medium shampoo bottle with pump, place the medium-sized green bottle upright.",
+    "Take the bottle with rounded neck up, skirt the medium shampoo bottle with pump, and put the bottle with rounded neck down upright.",
+    "Have the right arm grasp the medium green bottle with capped neck, avoid the yellow container with green pump while moving, and set the medium green bottle with capped neck upright.",
+    "Grip the handheld green bottle with the right arm, keep distance from the medium shampoo bottle with pump, then set the handheld green bottle upright.",
+    "With the right arm, pick the medium-sized green bottle up, avoid the yellow container with green pump, and put the medium-sized green bottle upright.",
+    "Lift the medium green bottle with capped neck, route it around the medium shampoo bottle with pump, then set the medium green bottle with capped neck upright.",
+    "Using the right arm, pick the medium-sized green bottle up, keep clear of the hand-sized yellow shampoo bottle, place the medium-sized green bottle upright.",
+    "Take the medium green bottle with capped neck, keep clear of the yellow container with green pump, and place the medium green bottle with capped neck upright.",
+    "Use the right arm to pick the bottle with white printed label up, avoid the yellow container with green pump, and place the bottle with white printed label upright.",
+    "With the right arm, take the green bottle with indented base up, steer past the yellow bottle with green top, and place the green bottle with indented base upright.",
+    "Pick up the bottle with rounded neck, swing wide around the shampoo with green dispensing pump, and set the bottle with rounded neck upright.",
+    "Grab the medium green bottle with capped neck, keep it away from the shampoo bottle with rounded body, and put the medium green bottle with capped neck down upright.",
+    "Grab the smooth green plastic bottle, carry it around the shampoo with green dispensing pump, then stand the smooth green plastic bottle upright.",
+    "Pick up the bottle with rounded neck, route it around the plastic shampoo bottle with label, then stand the bottle with rounded neck upright.",
+    "Use the right arm, raise the medium green bottle, keep distance from the yellow shampoo bottle, then place the medium green bottle upright."
+  ],
+  "unseen": [
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the yellow bottle with rounded edges, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow shampoo with pump dispenser, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the yellow bottle with rounded edges, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the yellow bottle with rounded edges, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the yellow shampoo with pump dispenser, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the green bottle, guide it around the yellow bottle with rounded edges, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow shampoo with pump dispenser, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the smooth plastic shampoo container, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the yellow shampoo with pump dispenser, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the yellow bottle with rounded edges, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the green bottle, guide it around the yellow bottle with rounded edges, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the yellow bottle with rounded edges, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the yellow bottle with rounded edges, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the green bottle, guide it around the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the yellow shampoo with pump dispenser, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the smooth plastic shampoo container, then place the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the green bottle, guide it around the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the yellow bottle with rounded edges, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the smooth plastic shampoo container, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the yellow shampoo with pump dispenser, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the yellow bottle with rounded edges, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the yellow bottle with rounded edges, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the green bottle, guide it around the smooth plastic shampoo container, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the yellow bottle with rounded edges, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the yellow bottle with rounded edges, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the yellow shampoo with pump dispenser, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the green bottle, guide it around the yellow bottle with rounded edges, then place the green bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode32.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..02818aba10906c4dfa285a21ab9cead18f444ad8
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the Coca-Cola bottle, swing wide around the white body pink flip cap bottle, and set the Coca-Cola bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the shampoo bottle with pink cap, then set the hand-sized soda bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the glossy white shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Move the long thin bottle from its spot, skirt the hand-sized shampoo bottle, and stand the long thin bottle upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the shampoo dispenser with flat base while moving, and set the medium dark brown bottle upright.",
+    "Move the bottle with white neck and red top away from the white body pink flip cap bottle as you lift, then place the bottle with white neck and red top upright.",
+    "Grab the smooth bottle with red lid, avoid the white shampoo bottle while moving, then place the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, keep clear of the oval-shaped shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the shampoo bottle with pink cap, and place the red-capped bottle upright.",
+    "Grab the brown bottle with red label, steer it around the oval-shaped shampoo bottle, and place the brown bottle with red label upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the white body pink flip cap bottle, place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the medium dark brown bottle, carry it away from the smooth white shampoo dispenser, set the medium dark brown bottle upright.",
+    "Pick up the plastic drink bottle, route it around the plastic shampoo container, then stand the plastic drink bottle upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the medium oval plastic shampoo container, and stand the narrow-necked bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the medium oval plastic shampoo container, and place the red-capped bottle upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the shampoo dispenser with flat base, then set the bottle with white neck and red top upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the white body pink flip cap bottle, place the Coca-Cola bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the glossy white shampoo bottle, and put the long thin bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the white shampoo bottle, and set the plastic drink bottle upright.",
+    "Take the medium dark brown bottle, route it away from the pink-topped shampoo bottle, and place the medium dark brown bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the shampoo dispenser with flat base, then stand the red-capped bottle up.",
+    "Lift the Coca-Cola bottle, guide it around the hand-sized shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the white shampoo bottle en route, and stand the dark drink bottle with logo up.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the medium oval plastic shampoo container, then place the Coca-Cola bottle upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the white shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the medium oval plastic shampoo container, and set the smooth bottle with red lid upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the pink-topped shampoo bottle while moving, and set the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the shampoo bottle with pink cap, then set the smooth bottle with red lid upright.",
+    "Grab the bottle with ridges on bottom, carry it around the oval-shaped shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the hand-sized shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Take the narrow-necked bottle, move it without nearing the medium shampoo bottle, and stand the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the oval-shaped shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the medium oval plastic shampoo container, and stand the narrow-necked bottle up.",
+    "Grab the long thin bottle, keep it away from the oval-shaped shampoo bottle, and put the long thin bottle down upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the white body pink flip cap bottle, place the brown bottle with red label upright.",
+    "Using the left arm, pick the narrow-necked bottle up, keep clear of the medium oval plastic shampoo container, place the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, route its path away from the hand-sized shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Grab the long thin bottle, move it without crossing the glossy white shampoo bottle, then place the long thin bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the shampoo bottle with pink cap, and set the medium dark brown bottle upright.",
+    "Take the long thin bottle up, skirt the shampoo dispenser with flat base, and put the long thin bottle down upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the glossy white shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the medium oval plastic shampoo container, then set the narrow-necked bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the white shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Move the narrow-necked bottle from its spot, skirt the white body pink flip cap bottle, and stand the narrow-necked bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the oval-shaped shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Move the Coca-Cola bottle away from the smooth white shampoo dispenser as you lift, then place the Coca-Cola bottle upright.",
+    "Grab the long thin bottle, avoid the plastic shampoo container while moving, then place the long thin bottle upright.",
+    "Take the long thin bottle, keep clear of the white body pink flip cap bottle, and place the long thin bottle upright.",
+    "Guide the left arm to take the plastic drink bottle, bypass the medium oval plastic shampoo container, and place the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, steer it around the glossy white shampoo bottle, and place the plastic drink bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the medium shampoo bottle, place the hand-sized soda bottle upright.",
+    "Use the left arm to grab the dark drink bottle with logo, carry it away from the shampoo dispenser with flat base, set the dark drink bottle with logo upright.",
+    "Pick up the long thin bottle, route it around the glossy white shampoo bottle, then stand the long thin bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the medium shampoo bottle, and stand the plastic drink bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the pink-topped shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grip the medium dark brown bottle with the left arm, keep distance from the white body pink flip cap bottle, then set the medium dark brown bottle upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the smooth white shampoo dispenser, place the smooth bottle with red lid upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the medium shampoo bottle, and put the Coca-Cola bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the glossy white shampoo bottle, and set the plastic drink bottle upright.",
+    "Take the plastic drink bottle, route it away from the medium shampoo bottle, and place the plastic drink bottle upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the shampoo dispenser with flat base, then stand the narrow-necked bottle up.",
+    "Lift the narrow-necked bottle, guide it around the glossy white shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the white body pink flip cap bottle en route, and stand the narrow-necked bottle up.",
+    "Use the left arm, raise the red-capped bottle, keep distance from the hand-sized shampoo bottle, then place the red-capped bottle upright.",
+    "Use the left arm to pick the bottle with ridges on bottom up, avoid the shampoo bottle with pink cap, and place the bottle with ridges on bottom upright.",
+    "Grab the narrow-necked bottle, keep it from the plastic shampoo container, and set the narrow-necked bottle upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the shampoo bottle with pink cap while moving, and set the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the oval-shaped shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Grab the brown bottle with red label, carry it around the plastic shampoo container, then stand the brown bottle with red label upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the shampoo dispenser with flat base, then place the brown bottle with red label upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the white body pink flip cap bottle, and stand the bottle with ridges on bottom upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the hand-sized shampoo bottle, and place the plastic drink bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the plastic shampoo container, and stand the dark drink bottle with logo up.",
+    "Grab the smooth bottle with red lid, keep it away from the white body pink flip cap bottle, and put the smooth bottle with red lid down upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the pink-topped shampoo bottle, place the bottle with white neck and red top upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the plastic shampoo container, place the brown bottle with red label upright.",
+    "Lift the red-capped bottle, route its path away from the plastic shampoo container, then set the red-capped bottle upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the hand-sized shampoo bottle, then place the hand-sized soda bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the glossy white shampoo bottle, and set the medium dark brown bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the hand-sized shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the plastic shampoo container, and set the Coca-Cola bottle upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the plastic shampoo container, then set the medium dark brown bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the plastic shampoo container, and put the bottle with white neck and red top upright.",
+    "Move the plastic drink bottle from its spot, skirt the medium shampoo bottle, and stand the plastic drink bottle upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the plastic shampoo container while moving, and set the narrow-necked bottle upright.",
+    "Move the plastic drink bottle away from the oval-shaped shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, avoid the hand-sized shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Take the smooth bottle with red lid, keep clear of the oval-shaped shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the shampoo dispenser with flat base, and place the dark drink bottle with logo upright.",
+    "Grab the narrow-necked bottle, steer it around the plastic shampoo container, and place the narrow-necked bottle upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the white shampoo bottle, place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the pink-topped shampoo bottle, set the bottle with ridges on bottom upright.",
+    "Pick up the bottle with white neck and red top, route it around the plastic shampoo container, then stand the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the shampoo dispenser with flat base, and stand the red-capped bottle upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the hand-sized shampoo bottle, and place the long thin bottle upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the medium shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the oval-shaped shampoo bottle, place the dark drink bottle with logo upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the shampoo bottle with pink cap, and put the medium dark brown bottle upright.",
+    "Lift the brown bottle with red label, keep its path away from the smooth white shampoo dispenser, and set the brown bottle with red label upright.",
+    "Take the plastic drink bottle, route it away from the glossy white shampoo bottle, and place the plastic drink bottle upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode33.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd17ece2b83e7f5ce1dbe8db4c040ebfdd022c93
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, lift the smooth green bottle, keep clear of the small smooth shampoo bottle, and place the smooth green bottle upright.",
+    "Using the right arm, grasp the smooth green plastic bottle, move it past the shampoo bottle flat bottom edge, then stand the smooth green plastic bottle up.",
+    "With the right arm, pick up the bottle with rounded neck, steer away from the small smooth shampoo bottle, and stand the bottle with rounded neck up.",
+    "Have the right arm grasp the plastic bottle, avoid the shampoo bottle flat bottom edge while moving, and set the plastic bottle upright.",
+    "Grab the bottle with narrow top, move it without crossing the light blue shampoo bottle small size, then place the bottle with narrow top upright.",
+    "Grip the smooth green plastic bottle with the right arm, keep distance from the shampoo bottle with white cap, then set the smooth green plastic bottle upright.",
+    "Lift the green bottle with indented base, keep its path away from the curved light blue shampoo bottle, and set the green bottle with indented base upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the shampoo bottle with white cap, then set the medium green bottle with capped neck upright.",
+    "Using the right arm, lift the medium green bottle, pass clear of the shampoo bottle flat bottom edge, then place the medium green bottle upright.",
+    "Lift the green bottle with indented base, keep its path clear of the shampoo bottle with matte plastic, then set the green bottle with indented base upright.",
+    "Lift the bottle with rounded neck, guide it around the hand-sized shampoo bottle, then stand the bottle with rounded neck upright.",
+    "Using the right arm, pick the green bottle with indented base up, keep clear of the hand-sized shampoo bottle, place the green bottle with indented base upright.",
+    "Grab the bottle with ridges near base, keep it away from the shampoo bottle tapered toward cap, and put the bottle with ridges near base down upright.",
+    "With the right arm, pick the medium-sized green bottle up, avoid the curved light blue shampoo bottle, and put the medium-sized green bottle upright.",
+    "Guide the right arm to take the medium green bottle with capped neck, bypass the shampoo bottle flat bottom edge, and place the medium green bottle with capped neck upright.",
+    "Grab the handheld green bottle, keep it from the blue shampoo bottle, and set the handheld green bottle upright.",
+    "Grab the bottle with rounded neck, avoid the blue shampoo bottle while moving, then place the bottle with rounded neck upright.",
+    "Lift the green bottle with indented base, route it around the small smooth shampoo bottle, then set the green bottle with indented base upright.",
+    "Grab the bottle with ridges near base, carry it around the bottle of shampoo, then stand the bottle with ridges near base upright.",
+    "Pick up the smooth green plastic bottle with the right arm, keep it away from the hand-sized shampoo bottle, place the smooth green plastic bottle upright.",
+    "Take the green bottle with indented base up, skirt the small smooth shampoo bottle, and put the green bottle with indented base down upright.",
+    "Use the right arm to grab the plastic bottle, carry it away from the blue shampoo bottle slender design, set the plastic bottle upright.",
+    "With the right arm, take the bottle with white printed label, pass outside the shampoo bottle flat bottom edge, and put the bottle with white printed label upright.",
+    "With the right arm, lift the handheld green bottle, keep it away from the light blue shampoo bottle small size, place the handheld green bottle upright.",
+    "Use the right arm to pick the bottle with narrow top up, avoid the shampoo bottle tapered toward cap, and place the bottle with narrow top upright.",
+    "With the right arm, secure the bottle with rounded neck, pass around the shampoo bottle with matte plastic, and set the bottle with rounded neck upright.",
+    "Direct the right arm to pick the bottle with narrow top up, avoid the shampoo bottle tapered toward cap, and stand the bottle with narrow top upright.",
+    "Pick up the medium green bottle, route it around the hand-sized shampoo bottle, then stand the medium green bottle upright.",
+    "Pick up the bottle with white printed label, swing wide around the shampoo bottle tapered toward cap, and set the bottle with white printed label upright.",
+    "Take the handheld green bottle, route it away from the bottle light blue rounded shape, and place the handheld green bottle upright.",
+    "With the right arm, take the medium-sized green bottle up, steer past the bottle of shampoo, and place the medium-sized green bottle upright.",
+    "Take the medium-sized green bottle, keep clear of the shampoo bottle with matte plastic, and place the medium-sized green bottle upright.",
+    "Move the medium green bottle with capped neck from its spot, skirt the bottle of shampoo, and stand the medium green bottle with capped neck upright.",
+    "Grab the medium green bottle with capped neck, steer it around the blue shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the shampoo bottle flat bottom edge, place the bottle with white printed label upright.",
+    "Move the green bottle with indented base away from the hand-sized shampoo bottle as you lift, then place the green bottle with indented base upright.",
+    "Take the bottle with ridges near base, move it without nearing the bottle light blue rounded shape, and stand the bottle with ridges near base upright.",
+    "Use the right arm to lift the bottle with ridges near base, avoid the small smooth shampoo bottle en route, and stand the bottle with ridges near base up.",
+    "With the right arm, take the bottle with rounded neck, avoid the shampoo bottle flat bottom edge while moving, and set the bottle with rounded neck upright.",
+    "Use the right arm, raise the handheld green bottle, keep distance from the light blue shampoo bottle small size, then place the handheld green bottle upright.",
+    "Using the right arm, lift the bottle with ridges near base, keep clear of the bottle of shampoo, and place the bottle with ridges near base upright.",
+    "Using the right arm, grasp the handheld green bottle, move it past the light blue shampoo bottle small size, then stand the handheld green bottle up.",
+    "With the right arm, pick up the smooth green plastic bottle, steer away from the shampoo bottle with matte plastic, and stand the smooth green plastic bottle up.",
+    "Have the right arm grasp the handheld green bottle, avoid the light blue shampoo bottle small size while moving, and set the handheld green bottle upright.",
+    "Grab the bottle with white printed label, move it without crossing the curved light blue shampoo bottle, then place the bottle with white printed label upright.",
+    "Grip the handheld green bottle with the right arm, keep distance from the light blue shampoo bottle small size, then set the handheld green bottle upright.",
+    "Lift the medium green bottle with capped neck, keep its path away from the hand-sized shampoo bottle, and set the medium green bottle with capped neck upright.",
+    "Lift the green bottle with indented base, route its path away from the shampoo bottle flat bottom edge, then set the green bottle with indented base upright.",
+    "Using the right arm, lift the bottle with rounded neck, pass clear of the light blue shampoo bottle small size, then place the bottle with rounded neck upright.",
+    "Lift the bottle with white printed label, keep its path clear of the small smooth shampoo bottle, then set the bottle with white printed label upright.",
+    "Lift the handheld green bottle, guide it around the shampoo bottle with matte plastic, then stand the handheld green bottle upright.",
+    "Using the right arm, pick the smooth green plastic bottle up, keep clear of the blue shampoo bottle slender design, place the smooth green plastic bottle upright.",
+    "Grab the medium-sized green bottle, keep it away from the shampoo bottle flat bottom edge, and put the medium-sized green bottle down upright.",
+    "With the right arm, pick the bottle with ridges near base up, avoid the hand-sized shampoo bottle, and put the bottle with ridges near base upright.",
+    "Guide the right arm to take the bottle with ridges near base, bypass the shampoo bottle with white cap, and place the bottle with ridges near base upright.",
+    "Grab the bottle with narrow top, keep it from the shampoo bottle with matte plastic, and set the bottle with narrow top upright.",
+    "Grab the medium green bottle, avoid the shampoo bottle flat bottom edge while moving, then place the medium green bottle upright.",
+    "Lift the medium-sized green bottle, route it around the hand-sized shampoo bottle, then set the medium-sized green bottle upright.",
+    "Grab the green bottle with indented base, carry it around the blue shampoo bottle slender design, then stand the green bottle with indented base upright.",
+    "Pick up the medium green bottle with capped neck with the right arm, keep it away from the shampoo bottle tapered toward cap, place the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top up, skirt the blue shampoo bottle slender design, and put the bottle with narrow top down upright.",
+    "Use the right arm to grab the medium green bottle with capped neck, carry it away from the shampoo bottle flat bottom edge, set the medium green bottle with capped neck upright.",
+    "With the right arm, take the bottle with white printed label, pass outside the bottle light blue rounded shape, and put the bottle with white printed label upright.",
+    "With the right arm, lift the green bottle with indented base, keep it away from the blue shampoo bottle, place the green bottle with indented base upright.",
+    "Use the right arm to pick the smooth green bottle up, avoid the light blue shampoo bottle small size, and place the smooth green bottle upright.",
+    "With the right arm, secure the medium green bottle, pass around the blue shampoo bottle, and set the medium green bottle upright.",
+    "Direct the right arm to pick the bottle with narrow top up, avoid the light blue shampoo bottle small size, and stand the bottle with narrow top upright.",
+    "Pick up the smooth green plastic bottle, route it around the light blue shampoo bottle small size, then stand the smooth green plastic bottle upright.",
+    "Pick up the medium green bottle with capped neck, swing wide around the shampoo bottle with matte plastic, and set the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top, route it away from the shampoo bottle with matte plastic, and place the bottle with narrow top upright.",
+    "With the right arm, take the plastic bottle up, steer past the small smooth shampoo bottle, and place the plastic bottle upright.",
+    "Take the plastic bottle, keep clear of the shampoo bottle tapered toward cap, and place the plastic bottle upright.",
+    "Move the bottle with ridges near base from its spot, skirt the curved light blue shampoo bottle, and stand the bottle with ridges near base upright.",
+    "Grab the green bottle with indented base, steer it around the shampoo bottle tapered toward cap, and place the green bottle with indented base upright.",
+    "Pick the green bottle with indented base up, keep its path clear of the light blue shampoo bottle small size, place the green bottle with indented base upright.",
+    "Move the medium green bottle away from the bottle of shampoo as you lift, then place the medium green bottle upright.",
+    "Take the bottle with rounded neck, move it without nearing the bottle light blue rounded shape, and stand the bottle with rounded neck upright.",
+    "Use the right arm to lift the bottle with narrow top, avoid the small smooth shampoo bottle en route, and stand the bottle with narrow top up.",
+    "With the right arm, take the handheld green bottle, avoid the small smooth shampoo bottle while moving, and set the handheld green bottle upright.",
+    "Use the right arm, raise the medium-sized green bottle, keep distance from the bottle of shampoo, then place the medium-sized green bottle upright.",
+    "Using the right arm, lift the medium green bottle, keep clear of the blue shampoo bottle slender design, and place the medium green bottle upright.",
+    "Using the right arm, grasp the bottle with ridges near base, move it past the blue shampoo bottle slender design, then stand the bottle with ridges near base up.",
+    "With the right arm, pick up the medium-sized green bottle, steer away from the blue shampoo bottle slender design, and stand the medium-sized green bottle up.",
+    "Have the right arm grasp the smooth green bottle, avoid the light blue shampoo bottle small size while moving, and set the smooth green bottle upright.",
+    "Grab the medium green bottle, move it without crossing the hand-sized shampoo bottle, then place the medium green bottle upright.",
+    "Grip the smooth green bottle with the right arm, keep distance from the shampoo bottle tapered toward cap, then set the smooth green bottle upright.",
+    "Lift the medium-sized green bottle, keep its path away from the hand-sized shampoo bottle, and set the medium-sized green bottle upright.",
+    "Lift the handheld green bottle, route its path away from the blue shampoo bottle slender design, then set the handheld green bottle upright.",
+    "Using the right arm, lift the bottle with narrow top, pass clear of the bottle of shampoo, then place the bottle with narrow top upright.",
+    "Lift the smooth green plastic bottle, keep its path clear of the light blue shampoo bottle small size, then set the smooth green plastic bottle upright.",
+    "Lift the medium-sized green bottle, guide it around the shampoo bottle with white cap, then stand the medium-sized green bottle upright.",
+    "Using the right arm, pick the green bottle with indented base up, keep clear of the hand-sized shampoo bottle, place the green bottle with indented base upright.",
+    "Grab the bottle with ridges near base, keep it away from the blue shampoo bottle, and put the bottle with ridges near base down upright.",
+    "With the right arm, pick the smooth green bottle up, avoid the bottle light blue rounded shape, and put the smooth green bottle upright.",
+    "Guide the right arm to take the plastic bottle, bypass the small smooth shampoo bottle, and place the plastic bottle upright.",
+    "Grab the handheld green bottle, keep it from the bottle of shampoo, and set the handheld green bottle upright.",
+    "Grab the handheld green bottle, avoid the blue shampoo bottle slender design while moving, then place the handheld green bottle upright.",
+    "Lift the green bottle with indented base, route it around the blue shampoo bottle slender design, then set the green bottle with indented base upright.",
+    "Grab the bottle with rounded neck, carry it around the blue shampoo bottle slender design, then stand the bottle with rounded neck upright.",
+    "Pick up the green bottle with indented base with the right arm, keep it away from the light blue shampoo bottle small size, place the green bottle with indented base upright."
+  ],
+  "unseen": [
+    "Using the right arm, grab the green bottle with white label, move around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth bottle containing shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the green bottle, steer it clear of the oval light blue shampoo container, and set the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the smooth bottle containing shampoo, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo container white rounded top, then set the green bottle upright.",
+    "Grab the green bottle, move it clear of the smooth bottle containing shampoo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo container white rounded top, and place the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the oval light blue shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container white rounded top, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container white rounded top, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container white rounded top, and place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the smooth bottle containing shampoo, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the oval light blue shampoo container, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the smooth bottle containing shampoo, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth bottle containing shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the oval light blue shampoo container, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the oval light blue shampoo container, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the smooth bottle containing shampoo, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the oval light blue shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container white rounded top, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo container white rounded top, and place the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the smooth bottle containing shampoo, then place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the smooth bottle containing shampoo, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the smooth bottle containing shampoo, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the smooth bottle containing shampoo, then set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the smooth bottle containing shampoo, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth bottle containing shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the smooth bottle containing shampoo, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo container white rounded top, then set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the oval light blue shampoo container, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the oval light blue shampoo container, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the oval light blue shampoo container, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth bottle containing shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container white rounded top, and place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the smooth bottle containing shampoo, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container white rounded top, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container white rounded top, then set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the smooth bottle containing shampoo, and place the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo container white rounded top, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the oval light blue shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the oval light blue shampoo container, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container white rounded top, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the oval light blue shampoo container, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the smooth bottle containing shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the smooth bottle containing shampoo, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the green bottle, steer it clear of the smooth bottle containing shampoo, and set the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the smooth bottle containing shampoo, then set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the smooth bottle containing shampoo, and place the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo container white rounded top, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the oval light blue shampoo container, then set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the smooth bottle containing shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the smooth bottle containing shampoo, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container white rounded top, then set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the oval light blue shampoo container, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the smooth bottle containing shampoo, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the oval light blue shampoo container, then place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the oval light blue shampoo container, and set the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode34.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e30da625ca1d8c89433412dcc18634683b80cb7
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic drink bottle, avoid the hand-sized pink shampoo container while moving, then place the plastic drink bottle upright.",
+    "With the right arm, take the bottle with ridges on bottom, pass outside the pink shampoo container with pump top, and put the bottle with ridges on bottom upright.",
+    "Using the right arm, pick the medium dark brown bottle up, keep clear of the pink bottle with narrow top, place the medium dark brown bottle upright.",
+    "Have the right arm grasp the dark drink bottle with logo, avoid the pink shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Use the right arm, raise the bottle with ridges on bottom, keep distance from the shampoo bottle with rectangular shape, then place the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle, keep clear of the pink shampoo container with pump top, and place the plastic drink bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the smooth pink plastic shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Use the right arm to grab the medium dark brown bottle, carry it away from the smooth pink plastic shampoo bottle, set the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the shampoo bottle with rectangular shape, and put the bottle with white neck and red top down upright.",
+    "Lift the long thin bottle, keep its path away from the hand-sized pink shampoo container, and set the long thin bottle upright.",
+    "Grip the bottle with white neck and red top with the right arm, keep distance from the pink bottle with narrow top, then set the bottle with white neck and red top upright.",
+    "Pick up the bottle with white neck and red top with the right arm, keep it away from the pink shampoo container with pump top, place the bottle with white neck and red top upright.",
+    "Lift the medium dark brown bottle, route its path away from the hand-sized pink shampoo container, then set the medium dark brown bottle upright.",
+    "Take the red-capped bottle, route it away from the rectangular pink shampoo container, and place the red-capped bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the pink bottle with black dispenser, and set the red-capped bottle upright.",
+    "Guide the right arm to take the bottle with white neck and red top, bypass the pink shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Grab the narrow-necked bottle, steer it around the hand-sized pink shampoo container, and place the narrow-necked bottle upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the smooth pink plastic shampoo bottle, and stand the dark drink bottle with logo up.",
+    "Move the hand-sized soda bottle from its spot, skirt the rectangular pink shampoo container, and stand the hand-sized soda bottle upright.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the pink bottle with black dispenser, place the dark drink bottle with logo upright.",
+    "Use the right arm to lift the narrow-necked bottle, avoid the medium pink bottle for shampoo en route, and stand the narrow-necked bottle up.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the pink bottle with narrow top, and place the dark drink bottle with logo upright.",
+    "Lift the long thin bottle, route it around the pink shampoo container with pump top, then set the long thin bottle upright.",
+    "Grab the red-capped bottle, keep it from the rectangular pink bottle with dispenser, and set the red-capped bottle upright.",
+    "With the right arm, take the plastic drink bottle up, steer past the rectangular pink shampoo container, and place the plastic drink bottle upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the hand-sized pink shampoo container, place the smooth bottle with red lid upright.",
+    "Take the hand-sized soda bottle up, skirt the medium pink bottle for shampoo, and put the hand-sized soda bottle down upright.",
+    "Lift the long thin bottle, guide it around the plastic shampoo bottle with black pump, then stand the long thin bottle upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the pink bottle with narrow top, and place the red-capped bottle upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the shampoo bottle with shiny pink body, and set the bottle with white neck and red top upright.",
+    "With the right arm, pick the Coca-Cola bottle up, avoid the pink bottle with black dispenser, and put the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the medium dark brown bottle up, avoid the rectangular pink bottle with dispenser, and stand the medium dark brown bottle upright.",
+    "Take the dark drink bottle with logo, move it without nearing the medium pink bottle for shampoo, and stand the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, keep its path clear of the shampoo bottle with shiny pink body, then set the red-capped bottle upright.",
+    "Move the long thin bottle away from the hand-sized pink shampoo container as you lift, then place the long thin bottle upright.",
+    "Using the right arm, lift the smooth bottle with red lid, pass clear of the pink shampoo container with pump top, then place the smooth bottle with red lid upright.",
+    "Grab the medium dark brown bottle, carry it around the rectangular pink bottle with dispenser, then stand the medium dark brown bottle upright.",
+    "Using the right arm, grasp the smooth bottle with red lid, move it past the pink shampoo container with pump top, then stand the smooth bottle with red lid up.",
+    "With the right arm, take the bottle with white neck and red top, avoid the shampoo bottle with shiny pink body while moving, and set the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the pink shampoo container with pump top, then place the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, avoid the rectangular pink bottle with dispenser while moving, then place the hand-sized soda bottle upright.",
+    "With the right arm, take the Coca-Cola bottle, pass outside the pink bottle with narrow top, and put the Coca-Cola bottle upright.",
+    "Using the right arm, pick the long thin bottle up, keep clear of the pink shampoo container with pump top, place the long thin bottle upright.",
+    "Have the right arm grasp the bottle with white neck and red top, avoid the shampoo bottle with shiny pink body while moving, and set the bottle with white neck and red top upright.",
+    "Use the right arm, raise the hand-sized soda bottle, keep distance from the plastic shampoo bottle with black pump, then place the hand-sized soda bottle upright.",
+    "Take the Coca-Cola bottle, keep clear of the shampoo bottle with rectangular shape, and place the Coca-Cola bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the pink shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Use the right arm to grab the brown bottle with red label, carry it away from the smooth pink plastic shampoo bottle, set the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, keep it away from the pink shampoo container with pump top, and put the brown bottle with red label down upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the rectangular pink shampoo container, and set the bottle with white neck and red top upright.",
+    "Grip the long thin bottle with the right arm, keep distance from the pink bottle with black dispenser, then set the long thin bottle upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the hand-sized pink shampoo container, place the hand-sized soda bottle upright.",
+    "Lift the brown bottle with red label, route its path away from the pink bottle with narrow top, then set the brown bottle with red label upright.",
+    "Take the medium dark brown bottle, route it away from the pink bottle with narrow top, and place the medium dark brown bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the hand-sized pink shampoo container, and set the smooth bottle with red lid upright.",
+    "Guide the right arm to take the brown bottle with red label, bypass the hand-sized pink shampoo container, and place the brown bottle with red label upright.",
+    "Grab the smooth bottle with red lid, steer it around the smooth pink plastic shampoo bottle, and place the smooth bottle with red lid upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the plastic shampoo bottle with black pump, and stand the Coca-Cola bottle up.",
+    "Move the bottle with ridges on bottom from its spot, skirt the rectangular pink bottle with dispenser, and stand the bottle with ridges on bottom upright.",
+    "With the right arm, lift the bottle with white neck and red top, keep it away from the pink bottle with black dispenser, place the bottle with white neck and red top upright.",
+    "Use the right arm to lift the narrow-necked bottle, avoid the medium pink bottle for shampoo en route, and stand the narrow-necked bottle up.",
+    "Use the right arm to pick the long thin bottle up, avoid the rectangular pink shampoo container, and place the long thin bottle upright.",
+    "Lift the red-capped bottle, route it around the smooth pink plastic shampoo bottle, then set the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the rectangular pink bottle with dispenser, and set the Coca-Cola bottle upright.",
+    "With the right arm, take the hand-sized soda bottle up, steer past the hand-sized pink shampoo container, and place the hand-sized soda bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the rectangular pink shampoo container, place the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the plastic shampoo bottle with black pump, and put the hand-sized soda bottle down upright.",
+    "Lift the hand-sized soda bottle, guide it around the shampoo bottle with rectangular shape, then stand the hand-sized soda bottle upright.",
+    "Using the right arm, lift the Coca-Cola bottle, keep clear of the pink bottle with narrow top, and place the Coca-Cola bottle upright.",
+    "With the right arm, secure the plastic drink bottle, pass around the hand-sized pink shampoo container, and set the plastic drink bottle upright.",
+    "With the right arm, pick the dark drink bottle with logo up, avoid the smooth pink plastic shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Direct the right arm to pick the bottle with ridges on bottom up, avoid the pink bottle with narrow top, and stand the bottle with ridges on bottom upright.",
+    "Take the medium dark brown bottle, move it without nearing the pink bottle with narrow top, and stand the medium dark brown bottle upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the pink shampoo container with pump top, then set the medium dark brown bottle upright.",
+    "Move the long thin bottle away from the pink bottle with narrow top as you lift, then place the long thin bottle upright.",
+    "Using the right arm, lift the Coca-Cola bottle, pass clear of the pink bottle with black dispenser, then place the Coca-Cola bottle upright.",
+    "Grab the long thin bottle, carry it around the pink shampoo bottle, then stand the long thin bottle upright.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the plastic shampoo bottle with black pump, then stand the hand-sized soda bottle up.",
+    "With the right arm, take the dark drink bottle with logo, avoid the smooth pink plastic shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the plastic shampoo bottle with black pump, then place the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, avoid the hand-sized pink shampoo container while moving, then place the red-capped bottle upright.",
+    "With the right arm, take the dark drink bottle with logo, pass outside the medium pink bottle for shampoo, and put the dark drink bottle with logo upright.",
+    "Using the right arm, pick the narrow-necked bottle up, keep clear of the rectangular pink bottle with dispenser, place the narrow-necked bottle upright.",
+    "Have the right arm grasp the plastic drink bottle, avoid the pink bottle with black dispenser while moving, and set the plastic drink bottle upright.",
+    "Use the right arm, raise the bottle with white neck and red top, keep distance from the pink bottle with black dispenser, then place the bottle with white neck and red top upright.",
+    "Take the brown bottle with red label, keep clear of the medium pink bottle for shampoo, and place the brown bottle with red label upright.",
+    "Pick up the plastic drink bottle, route it around the shampoo bottle with shiny pink body, then stand the plastic drink bottle upright.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the smooth pink plastic shampoo bottle, set the dark drink bottle with logo upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle with rectangular shape, and put the dark drink bottle with logo down upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the smooth pink plastic shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Grip the dark drink bottle with logo with the right arm, keep distance from the pink shampoo container with pump top, then set the dark drink bottle with logo upright.",
+    "Pick up the dark drink bottle with logo with the right arm, keep it away from the rectangular pink shampoo container, place the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, route its path away from the pink shampoo container with pump top, then set the smooth bottle with red lid upright.",
+    "Take the dark drink bottle with logo, route it away from the pink shampoo container with pump top, and place the dark drink bottle with logo upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the hand-sized pink shampoo container, and set the bottle with ridges on bottom upright.",
+    "Guide the right arm to take the bottle with ridges on bottom, bypass the smooth pink plastic shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, steer it around the pink bottle with black dispenser, and place the hand-sized soda bottle upright.",
+    "With the right arm, pick up the bottle with white neck and red top, steer away from the plastic shampoo bottle with black pump, and stand the bottle with white neck and red top up.",
+    "Move the hand-sized soda bottle from its spot, skirt the plastic shampoo bottle with black pump, and stand the hand-sized soda bottle upright.",
+    "With the right arm, lift the medium dark brown bottle, keep it away from the rectangular pink shampoo container, place the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode35.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb806f8106cbc6f5005852d048c4c868b9d28a2
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the shampoo bottle with blue cap, and place the dark drink bottle with logo upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the plastic shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the blue top shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Grip the Coca-Cola bottle with the left arm, keep distance from the medium-sized white plastic shampoo, then set the Coca-Cola bottle upright.",
+    "Take the smooth bottle with red lid up, skirt the shampoo bottle with curved sides, and put the smooth bottle with red lid down upright.",
+    "Lift the medium dark brown bottle, route it around the bottle with smooth surface, then set the medium dark brown bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the blue top shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, steer it around the white and blue shampoo container, and place the long thin bottle upright.",
+    "Grab the red-capped bottle, carry it around the white and blue shampoo container, then stand the red-capped bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the white and blue shampoo container, and place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the white shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the bottle with hexagonal blue cap, then place the bottle with ridges on bottom upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the bottle with smooth surface, and stand the Coca-Cola bottle upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the bottle with hexagonal blue cap, and stand the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, keep it from the white shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Move the Coca-Cola bottle away from the plastic shampoo with orange label as you lift, then place the Coca-Cola bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the white shampoo bottle, and place the narrow-necked bottle upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the handheld shampoo container, then stand the dark drink bottle with logo up.",
+    "With the left arm, take the red-capped bottle, avoid the plastic shampoo with orange label while moving, and set the red-capped bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the curved shampoo bottle, then place the medium dark brown bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the white shampoo bottle, place the bottle with white neck and red top upright.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the white and blue shampoo container while moving, and set the bottle with white neck and red top upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the plastic shampoo bottle, and stand the dark drink bottle with logo up.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the medium-sized white plastic shampoo, place the Coca-Cola bottle upright.",
+    "With the left arm, secure the narrow-necked bottle, pass around the plastic shampoo bottle, and set the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the bottle with hexagonal blue cap, then set the smooth bottle with red lid upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the handheld shampoo container, and set the hand-sized soda bottle upright.",
+    "Grab the hand-sized soda bottle, keep it away from the bottle with smooth surface, and put the hand-sized soda bottle down upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the white shampoo bottle, set the Coca-Cola bottle upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the plastic shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Take the red-capped bottle, route it away from the white shampoo bottle, and place the red-capped bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the medium-sized white plastic shampoo, and put the bottle with white neck and red top upright.",
+    "With the left arm, pick the long thin bottle up, avoid the curved shampoo bottle, and put the long thin bottle upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the shampoo bottle with curved sides, and place the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, route its path away from the plastic shampoo with orange label, then set the smooth bottle with red lid upright.",
+    "Pick the bottle with white neck and red top up, keep its path clear of the bottle with hexagonal blue cap, place the bottle with white neck and red top upright.",
+    "Lift the Coca-Cola bottle, guide it around the bottle with hexagonal blue cap, then stand the Coca-Cola bottle upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the bottle with hexagonal blue cap, place the long thin bottle upright.",
+    "Pick up the Coca-Cola bottle, route it around the plastic shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Use the left arm to lift the plastic drink bottle, avoid the white shampoo bottle en route, and stand the plastic drink bottle up.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the handheld shampoo container, and place the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the shampoo bottle with curved sides, and set the bottle with white neck and red top upright.",
+    "Take the red-capped bottle, move it without nearing the plastic shampoo with orange label, and stand the red-capped bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the white shampoo bottle, then set the long thin bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the blue top shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "Lift the dark drink bottle with logo, route it around the white and blue shampoo container, then set the dark drink bottle with logo upright.",
+    "Take the dark drink bottle with logo, keep clear of the blue top shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the Coca-Cola bottle, steer it around the shampoo bottle with curved sides, and place the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, carry it around the bottle with hexagonal blue cap, then stand the hand-sized soda bottle upright.",
+    "Guide the left arm to take the plastic drink bottle, bypass the shampoo bottle with blue cap, and place the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, avoid the handheld shampoo container while moving, then place the plastic drink bottle upright.",
+    "Grab the long thin bottle, move it without crossing the blue top shampoo bottle, then place the long thin bottle upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the plastic shampoo with orange label, and stand the bottle with white neck and red top upright.",
+    "Move the brown bottle with red label from its spot, skirt the plastic shampoo bottle, and stand the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, keep it from the bottle with hexagonal blue cap, and set the narrow-necked bottle upright.",
+    "Move the long thin bottle away from the plastic shampoo with orange label as you lift, then place the long thin bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the bottle with smooth surface, and place the brown bottle with red label upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the blue top shampoo bottle, then stand the narrow-necked bottle up.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the plastic shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the long thin bottle, pass clear of the plastic shampoo bottle, then place the long thin bottle upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the bottle with hexagonal blue cap, place the Coca-Cola bottle upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the medium-sized white plastic shampoo while moving, and set the narrow-necked bottle upright.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the white and blue shampoo container, and stand the Coca-Cola bottle up.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the blue top shampoo bottle, place the Coca-Cola bottle upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the shampoo bottle with curved sides, and set the bottle with ridges on bottom upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the handheld shampoo container, then set the bottle with white neck and red top upright.",
+    "Pick up the plastic drink bottle, swing wide around the shampoo bottle with curved sides, and set the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, keep it away from the white shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the handheld shampoo container, set the narrow-necked bottle upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the white and blue shampoo container, then place the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle, route it away from the blue top shampoo bottle, and place the hand-sized soda bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the shampoo bottle with blue cap, and put the brown bottle with red label upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the curved shampoo bottle, and put the red-capped bottle upright.",
+    "With the left arm, take the brown bottle with red label up, steer past the plastic shampoo bottle, and place the brown bottle with red label upright.",
+    "Lift the long thin bottle, route its path away from the plastic shampoo bottle, then set the long thin bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the white and blue shampoo container, place the plastic drink bottle upright.",
+    "Lift the smooth bottle with red lid, guide it around the medium-sized white plastic shampoo, then stand the smooth bottle with red lid upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the plastic shampoo with orange label, place the red-capped bottle upright.",
+    "Pick up the narrow-necked bottle, route it around the white and blue shampoo container, then stand the narrow-necked bottle upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the shampoo bottle with blue cap en route, and stand the bottle with white neck and red top up.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the shampoo bottle with curved sides, and place the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the bottle with hexagonal blue cap, and set the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, move it without nearing the white shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the medium-sized white plastic shampoo, then set the long thin bottle upright.",
+    "Take the narrow-necked bottle up, skirt the plastic shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Lift the brown bottle with red label, route it around the plastic shampoo bottle, then set the brown bottle with red label upright.",
+    "Take the dark drink bottle with logo, keep clear of the plastic shampoo with orange label, and place the dark drink bottle with logo upright.",
+    "Grab the hand-sized soda bottle, steer it around the shampoo bottle with blue cap, and place the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, carry it around the white shampoo bottle, then stand the brown bottle with red label upright.",
+    "Guide the left arm to take the long thin bottle, bypass the bottle with smooth surface, and place the long thin bottle upright.",
+    "Grab the narrow-necked bottle, avoid the blue top shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the blue top shampoo bottle, then place the medium dark brown bottle upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the medium-sized white plastic shampoo, and stand the bottle with white neck and red top upright.",
+    "Move the red-capped bottle from its spot, skirt the curved shampoo bottle, and stand the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the bottle with hexagonal blue cap, and set the Coca-Cola bottle upright.",
+    "Move the long thin bottle away from the bottle with smooth surface as you lift, then place the long thin bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, keep clear of the handheld shampoo container, and place the dark drink bottle with logo upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the medium-sized white plastic shampoo, then stand the narrow-necked bottle up.",
+    "With the left arm, take the brown bottle with red label, avoid the blue top shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Using the left arm, lift the long thin bottle, pass clear of the bottle with smooth surface, then place the long thin bottle upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white shampoo with orange design, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white shampoo with orange design, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white shampoo with orange design, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode36.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e7512f92d0f413df42899336af8a0cc4695f9a
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the narrow-necked bottle, avoid the medium shampoo container while moving, then place the narrow-necked bottle upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the white shampoo bottle with golden top, and set the bottle with ridges on bottom upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the plastic shampoo bottle with smooth surface, and put the dark drink bottle with logo upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the white shampoo bottle with golden top, and place the narrow-necked bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the rectangular shampoo bottle with rounded top, then place the smooth bottle with red lid upright.",
+    "Grab the bottle with ridges on bottom, keep it from the rectangular shampoo bottle with rounded top, and set the bottle with ridges on bottom upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the bottle for shampoo with glossy finish, then set the narrow-necked bottle upright.",
+    "Using the left arm, pick the plastic drink bottle up, keep clear of the shampoo bottle with rectangular base, place the plastic drink bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the white shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "Lift the plastic drink bottle, keep its path away from the white bottle with golden accents, and set the plastic drink bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the plastic shampoo bottle with smooth surface, and place the narrow-necked bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the white bottle with golden accents, then stand the dark drink bottle with logo upright.",
+    "Grab the bottle with white neck and red top, keep it away from the white bottle with golden accents, and put the bottle with white neck and red top down upright.",
+    "Take the medium dark brown bottle up, skirt the white shampoo bottle with golden top, and put the medium dark brown bottle down upright.",
+    "Lift the medium dark brown bottle, route its path away from the white shampoo bottle, then set the medium dark brown bottle upright.",
+    "Pick up the narrow-necked bottle with the left arm, keep it away from the white shampoo bottle, place the narrow-necked bottle upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the hand-held shampoo bottle, then place the narrow-necked bottle upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the shampoo bottle with rectangular base, place the dark drink bottle with logo upright.",
+    "Pick up the long thin bottle, swing wide around the rectangular shampoo bottle with rounded top, and set the long thin bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the bottle for shampoo with glossy finish, then set the narrow-necked bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the white shampoo bottle, place the long thin bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the hand-held shampoo bottle, and stand the plastic drink bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the plastic shampoo bottle with smooth surface, and place the red-capped bottle upright.",
+    "Take the brown bottle with red label, move it without nearing the shampoo bottle, and stand the brown bottle with red label upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the white shampoo bottle, and put the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, carry it around the bottle with yellow cap, then stand the bottle with ridges on bottom upright.",
+    "Lift the hand-sized soda bottle, guide it around the bottle with yellow cap, then stand the hand-sized soda bottle upright.",
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the shampoo bottle with rectangular base, set the hand-sized soda bottle upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the hand-held shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Take the bottle with ridges on bottom, route it away from the shampoo bottle with rectangular base, and place the bottle with ridges on bottom upright.",
+    "Move the brown bottle with red label away from the smooth shampoo container as you lift, then place the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, steer it around the white shampoo bottle with golden top, and place the bottle with ridges on bottom upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the medium shampoo container, then stand the medium dark brown bottle up.",
+    "Lift the narrow-necked bottle, route it around the hand-held shampoo bottle, then set the narrow-necked bottle upright.",
+    "With the left arm, pick up the bottle with ridges on bottom, steer away from the bottle for shampoo with glossy finish, and stand the bottle with ridges on bottom up.",
+    "With the left arm, take the Coca-Cola bottle up, steer past the smooth shampoo container, and place the Coca-Cola bottle upright.",
+    "Use the left arm to lift the red-capped bottle, avoid the white shampoo bottle with golden top en route, and stand the red-capped bottle up.",
+    "Move the bottle with white neck and red top from its spot, skirt the rectangular shampoo bottle with rounded top, and stand the bottle with white neck and red top upright.",
+    "Take the Coca-Cola bottle, keep clear of the white bottle with golden accents, and place the Coca-Cola bottle upright.",
+    "Grab the red-capped bottle, move it without crossing the bottle for shampoo with glossy finish, then place the red-capped bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the bottle with yellow cap while moving, then place the bottle with ridges on bottom upright.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the medium shampoo container, and set the dark drink bottle with logo upright.",
+    "With the left arm, pick the plastic drink bottle up, avoid the smooth shampoo container, and put the plastic drink bottle upright.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the bottle for shampoo with glossy finish, and place the brown bottle with red label upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the hand-held shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the plastic shampoo bottle with smooth surface, and set the bottle with white neck and red top upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the bottle for shampoo with glossy finish, then set the narrow-necked bottle upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the bottle for shampoo with glossy finish, place the smooth bottle with red lid upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the white bottle with golden accents while moving, and set the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the rectangular shampoo bottle with rounded top, and set the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the shampoo bottle with rectangular base, and place the smooth bottle with red lid upright.",
+    "Pick up the dark drink bottle with logo, route it around the plastic shampoo bottle with smooth surface, then stand the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, keep it away from the white shampoo bottle with golden top, and put the brown bottle with red label down upright.",
+    "Take the narrow-necked bottle up, skirt the shampoo bottle with rectangular base, and put the narrow-necked bottle down upright.",
+    "Lift the dark drink bottle with logo, route its path away from the white shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the white shampoo bottle with golden top, place the brown bottle with red label upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the white shampoo bottle, then place the narrow-necked bottle upright.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the white bottle with golden accents, place the narrow-necked bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the white bottle with golden accents, and set the plastic drink bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the plastic shampoo bottle with smooth surface, then set the red-capped bottle upright.",
+    "Pick the red-capped bottle up, keep its path clear of the white bottle with golden accents, place the red-capped bottle upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the white shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the hand-held shampoo bottle, and place the narrow-necked bottle upright.",
+    "Take the long thin bottle, move it without nearing the rectangular shampoo bottle with rounded top, and stand the long thin bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Grab the bottle with ridges on bottom, carry it around the bottle with yellow cap, then stand the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, guide it around the white bottle with golden accents, then stand the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the smooth shampoo container, set the plastic drink bottle upright.",
+    "Have the left arm grasp the Coca-Cola bottle, avoid the white shampoo bottle with golden top while moving, and set the Coca-Cola bottle upright.",
+    "Take the plastic drink bottle, route it away from the smooth shampoo container, and place the plastic drink bottle upright.",
+    "Move the plastic drink bottle away from the hand-held shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the bottle with yellow cap, and place the medium dark brown bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the hand-held shampoo bottle, then stand the smooth bottle with red lid up.",
+    "Lift the medium dark brown bottle, route it around the bottle for shampoo with glossy finish, then set the medium dark brown bottle upright.",
+    "With the left arm, pick up the plastic drink bottle, steer away from the white shampoo bottle, and stand the plastic drink bottle up.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Use the left arm to lift the long thin bottle, avoid the rectangular shampoo bottle with rounded top en route, and stand the long thin bottle up.",
+    "Move the Coca-Cola bottle from its spot, skirt the rectangular shampoo bottle with rounded top, and stand the Coca-Cola bottle upright.",
+    "Take the long thin bottle, keep clear of the bottle with yellow cap, and place the long thin bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the rectangular shampoo bottle with rounded top, then place the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, avoid the rectangular shampoo bottle with rounded top while moving, then place the medium dark brown bottle upright.",
+    "With the left arm, secure the red-capped bottle, pass around the smooth shampoo container, and set the red-capped bottle upright.",
+    "With the left arm, pick the bottle with ridges on bottom up, avoid the white shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the bottle with yellow cap, and place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the hand-held shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, keep it from the smooth shampoo container, and set the hand-sized soda bottle upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the white shampoo bottle with golden top, then set the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the shampoo bottle, place the bottle with white neck and red top upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the plastic shampoo bottle with smooth surface while moving, and set the smooth bottle with red lid upright.",
+    "Lift the plastic drink bottle, keep its path away from the rectangular shampoo bottle with rounded top, and set the plastic drink bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, keep clear of the white shampoo bottle with golden top, and place the plastic drink bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, keep it away from the white shampoo bottle with golden top, and put the smooth bottle with red lid down upright.",
+    "Take the Coca-Cola bottle up, skirt the bottle for shampoo with glossy finish, and put the Coca-Cola bottle down upright.",
+    "Lift the plastic drink bottle, route its path away from the white bottle with golden accents, then set the plastic drink bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the hand-held shampoo bottle, place the bottle with white neck and red top upright.",
+    "Use the left arm, raise the brown bottle with red label, keep distance from the smooth shampoo container, then place the brown bottle with red label upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the white bottle with golden accents, place the bottle with white neck and red top upright.",
+    "Pick up the long thin bottle, swing wide around the medium shampoo container, and set the long thin bottle upright.",
+    "Lift the brown bottle with red label, keep its path clear of the white shampoo bottle, then set the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the medium-sized shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the medium-sized shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode37.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..328e4acd07cf88550f11144f93fc459db24b49c1
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, lift the smooth green plastic bottle, keep clear of the smooth shampoo container, and place the smooth green plastic bottle upright.",
+    "Pick up the bottle with ridges near base with the left arm, keep it away from the shampoo bottle, place the bottle with ridges near base upright.",
+    "Take the bottle with white printed label, move it without nearing the shampoo bottle with rectangular base, and stand the bottle with white printed label upright.",
+    "Pick up the bottle with rounded neck, route it around the white shampoo bottle, then stand the bottle with rounded neck upright.",
+    "Take the bottle with rounded neck up, skirt the bottle with yellow cap, and put the bottle with rounded neck down upright.",
+    "Direct the left arm to pick the green bottle with indented base up, avoid the white shampoo bottle, and stand the green bottle with indented base upright.",
+    "Lift the handheld green bottle, keep its path clear of the white bottle with golden accents, then set the handheld green bottle upright.",
+    "Pick up the bottle with white printed label, swing wide around the smooth shampoo container, and set the bottle with white printed label upright.",
+    "With the left arm, pick up the green bottle with indented base, steer away from the white bottle with golden accents, and stand the green bottle with indented base up.",
+    "Using the left arm, pick the bottle with rounded neck up, keep clear of the shampoo bottle with rectangular base, place the bottle with rounded neck upright.",
+    "With the left arm, take the bottle with narrow top, avoid the smooth shampoo container while moving, and set the bottle with narrow top upright.",
+    "Guide the left arm to take the handheld green bottle, bypass the hand-held shampoo bottle, and place the handheld green bottle upright.",
+    "Use the left arm, raise the bottle with ridges near base, keep distance from the rectangular shampoo bottle with rounded top, then place the bottle with ridges near base upright.",
+    "Lift the smooth green plastic bottle, keep its path away from the medium shampoo container, and set the smooth green plastic bottle upright.",
+    "With the left arm, pick the smooth green bottle up, avoid the medium shampoo container, and put the smooth green bottle upright.",
+    "Grab the medium green bottle with capped neck, steer it around the white bottle with golden accents, and place the medium green bottle with capped neck upright.",
+    "Grab the bottle with rounded neck, keep it away from the shampoo bottle, and put the bottle with rounded neck down upright.",
+    "Lift the bottle with rounded neck, route its path away from the white shampoo bottle, then set the bottle with rounded neck upright.",
+    "Move the medium-sized green bottle away from the medium shampoo container as you lift, then place the medium-sized green bottle upright.",
+    "Grab the bottle with ridges near base, avoid the hand-held shampoo bottle while moving, then place the bottle with ridges near base upright.",
+    "Grab the medium-sized green bottle, move it without crossing the plastic shampoo bottle with smooth surface, then place the medium-sized green bottle upright.",
+    "Lift the bottle with white printed label, route it around the plastic shampoo bottle with smooth surface, then set the bottle with white printed label upright.",
+    "Grip the smooth green bottle with the left arm, keep distance from the white shampoo bottle with golden top, then set the smooth green bottle upright.",
+    "Grab the bottle with white printed label, carry it around the bottle for shampoo with glossy finish, then stand the bottle with white printed label upright.",
+    "With the left arm, take the bottle with rounded neck, pass outside the rectangular shampoo bottle with rounded top, and put the bottle with rounded neck upright.",
+    "Use the left arm to pick the bottle with narrow top up, avoid the plastic shampoo bottle with smooth surface, and place the bottle with narrow top upright.",
+    "Take the medium green bottle with capped neck, route it away from the shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "Using the left arm, lift the medium-sized green bottle, pass clear of the bottle for shampoo with glossy finish, then place the medium-sized green bottle upright.",
+    "With the left arm, secure the smooth green plastic bottle, pass around the white bottle with golden accents, and set the smooth green plastic bottle upright.",
+    "Use the left arm to lift the bottle with ridges near base, avoid the rectangular shampoo bottle with rounded top en route, and stand the bottle with ridges near base up.",
+    "Use the left arm to grab the medium-sized green bottle, carry it away from the hand-held shampoo bottle, set the medium-sized green bottle upright.",
+    "With the left arm, take the medium-sized green bottle up, steer past the medium shampoo container, and place the medium-sized green bottle upright.",
+    "Pick the green bottle with indented base up, keep its path clear of the shampoo bottle with rectangular base, place the green bottle with indented base upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the bottle with yellow cap, and stand the smooth green plastic bottle upright.",
+    "With the left arm, lift the bottle with white printed label, keep it away from the plastic shampoo bottle with smooth surface, place the bottle with white printed label upright.",
+    "Take the smooth green plastic bottle, keep clear of the medium shampoo container, and place the smooth green plastic bottle upright.",
+    "Have the left arm grasp the bottle with narrow top, avoid the smooth shampoo container while moving, and set the bottle with narrow top upright.",
+    "Lift the bottle with narrow top, guide it around the medium shampoo container, then stand the bottle with narrow top upright.",
+    "Using the left arm, grasp the medium green bottle with capped neck, move it past the rectangular shampoo bottle with rounded top, then stand the medium green bottle with capped neck up.",
+    "Grab the bottle with narrow top, keep it from the medium shampoo container, and set the bottle with narrow top upright.",
+    "Using the left arm, lift the medium green bottle, keep clear of the white bottle with golden accents, and place the medium green bottle upright.",
+    "Pick up the smooth green bottle with the left arm, keep it away from the hand-held shampoo bottle, place the smooth green bottle upright.",
+    "Take the green bottle with indented base, move it without nearing the white shampoo bottle, and stand the green bottle with indented base upright.",
+    "Pick up the bottle with white printed label, route it around the white bottle with golden accents, then stand the bottle with white printed label upright.",
+    "Take the bottle with white printed label up, skirt the white shampoo bottle with golden top, and put the bottle with white printed label down upright.",
+    "Direct the left arm to pick the bottle with rounded neck up, avoid the bottle for shampoo with glossy finish, and stand the bottle with rounded neck upright.",
+    "Lift the bottle with rounded neck, keep its path clear of the hand-held shampoo bottle, then set the bottle with rounded neck upright.",
+    "Pick up the green bottle with indented base, swing wide around the shampoo bottle with rectangular base, and set the green bottle with indented base upright.",
+    "With the left arm, pick up the handheld green bottle, steer away from the shampoo bottle with rectangular base, and stand the handheld green bottle up.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the smooth shampoo container, place the bottle with white printed label upright.",
+    "With the left arm, take the bottle with ridges near base, avoid the hand-held shampoo bottle while moving, and set the bottle with ridges near base upright.",
+    "Guide the left arm to take the smooth green plastic bottle, bypass the medium shampoo container, and place the smooth green plastic bottle upright.",
+    "Use the left arm, raise the smooth green plastic bottle, keep distance from the white bottle with golden accents, then place the smooth green plastic bottle upright.",
+    "Lift the medium green bottle, keep its path away from the medium shampoo container, and set the medium green bottle upright.",
+    "With the left arm, pick the plastic bottle up, avoid the white shampoo bottle with golden top, and put the plastic bottle upright.",
+    "Grab the bottle with ridges near base, steer it around the medium shampoo container, and place the bottle with ridges near base upright.",
+    "Grab the handheld green bottle, keep it away from the rectangular shampoo bottle with rounded top, and put the handheld green bottle down upright.",
+    "Lift the smooth green plastic bottle, route its path away from the smooth shampoo container, then set the smooth green plastic bottle upright.",
+    "Move the bottle with rounded neck away from the bottle with yellow cap as you lift, then place the bottle with rounded neck upright.",
+    "Grab the plastic bottle, avoid the shampoo bottle while moving, then place the plastic bottle upright.",
+    "Grab the medium-sized green bottle, move it without crossing the rectangular shampoo bottle with rounded top, then place the medium-sized green bottle upright.",
+    "Lift the bottle with white printed label, route it around the bottle for shampoo with glossy finish, then set the bottle with white printed label upright.",
+    "Grip the bottle with white printed label with the left arm, keep distance from the hand-held shampoo bottle, then set the bottle with white printed label upright.",
+    "Grab the smooth green plastic bottle, carry it around the bottle for shampoo with glossy finish, then stand the smooth green plastic bottle upright.",
+    "With the left arm, take the smooth green plastic bottle, pass outside the white bottle with golden accents, and put the smooth green plastic bottle upright.",
+    "Use the left arm to pick the medium-sized green bottle up, avoid the rectangular shampoo bottle with rounded top, and place the medium-sized green bottle upright.",
+    "Take the bottle with narrow top, route it away from the white shampoo bottle with golden top, and place the bottle with narrow top upright.",
+    "Using the left arm, lift the handheld green bottle, pass clear of the medium shampoo container, then place the handheld green bottle upright.",
+    "With the left arm, secure the plastic bottle, pass around the shampoo bottle, and set the plastic bottle upright.",
+    "Use the left arm to lift the plastic bottle, avoid the rectangular shampoo bottle with rounded top en route, and stand the plastic bottle up.",
+    "Use the left arm to grab the medium-sized green bottle, carry it away from the rectangular shampoo bottle with rounded top, set the medium-sized green bottle upright.",
+    "With the left arm, take the bottle with white printed label up, steer past the bottle with yellow cap, and place the bottle with white printed label upright.",
+    "Pick the green bottle with indented base up, keep its path clear of the shampoo bottle with rectangular base, place the green bottle with indented base upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the bottle for shampoo with glossy finish, and stand the smooth green plastic bottle upright.",
+    "With the left arm, lift the green bottle with indented base, keep it away from the shampoo bottle with rectangular base, place the green bottle with indented base upright.",
+    "Take the green bottle with indented base, keep clear of the shampoo bottle, and place the green bottle with indented base upright.",
+    "Have the left arm grasp the handheld green bottle, avoid the medium shampoo container while moving, and set the handheld green bottle upright.",
+    "Lift the smooth green bottle, guide it around the rectangular shampoo bottle with rounded top, then stand the smooth green bottle upright.",
+    "Using the left arm, grasp the green bottle with indented base, move it past the medium shampoo container, then stand the green bottle with indented base up.",
+    "Grab the medium-sized green bottle, keep it from the hand-held shampoo bottle, and set the medium-sized green bottle upright.",
+    "Using the left arm, lift the bottle with white printed label, keep clear of the smooth shampoo container, and place the bottle with white printed label upright.",
+    "Pick up the bottle with rounded neck with the left arm, keep it away from the rectangular shampoo bottle with rounded top, place the bottle with rounded neck upright.",
+    "Take the handheld green bottle, move it without nearing the white shampoo bottle with golden top, and stand the handheld green bottle upright.",
+    "Pick up the bottle with ridges near base, route it around the shampoo bottle, then stand the bottle with ridges near base upright.",
+    "Take the medium-sized green bottle up, skirt the bottle with yellow cap, and put the medium-sized green bottle down upright.",
+    "Direct the left arm to pick the smooth green plastic bottle up, avoid the rectangular shampoo bottle with rounded top, and stand the smooth green plastic bottle upright.",
+    "Lift the smooth green plastic bottle, keep its path clear of the plastic shampoo bottle with smooth surface, then set the smooth green plastic bottle upright.",
+    "Pick up the bottle with white printed label, swing wide around the rectangular shampoo bottle with rounded top, and set the bottle with white printed label upright.",
+    "With the left arm, pick up the bottle with rounded neck, steer away from the plastic shampoo bottle with smooth surface, and stand the bottle with rounded neck up.",
+    "Using the left arm, pick the green bottle with indented base up, keep clear of the medium shampoo container, place the green bottle with indented base upright.",
+    "With the left arm, take the plastic bottle, avoid the white shampoo bottle with golden top while moving, and set the plastic bottle upright.",
+    "Guide the left arm to take the bottle with rounded neck, bypass the medium shampoo container, and place the bottle with rounded neck upright.",
+    "Use the left arm, raise the medium green bottle, keep distance from the hand-held shampoo bottle, then place the medium green bottle upright.",
+    "Lift the medium-sized green bottle, keep its path away from the white shampoo bottle with golden top, and set the medium-sized green bottle upright.",
+    "With the left arm, pick the bottle with white printed label up, avoid the white bottle with golden accents, and put the bottle with white printed label upright.",
+    "Grab the bottle with white printed label, steer it around the shampoo bottle with rectangular base, and place the bottle with white printed label upright.",
+    "Grab the plastic bottle, keep it away from the white bottle with golden accents, and put the plastic bottle down upright.",
+    "Lift the medium green bottle, route its path away from the shampoo bottle with rectangular base, then set the medium green bottle upright.",
+    "Move the medium green bottle away from the hand-held shampoo bottle as you lift, then place the medium green bottle upright.",
+    "Grab the plastic bottle, avoid the white bottle with golden accents while moving, then place the plastic bottle upright."
+  ],
+  "unseen": [
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white plastic shampoo bottle, and place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the white plastic shampoo bottle, and place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode38.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..a369580e55830199b52b7f028ba2eda23adca339
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the long thin bottle, keep its path clear of the green shampoo bottle, then set the long thin bottle upright.",
+    "Using the right arm, pick the red-capped bottle up, keep clear of the shampoo container with dispensing pump, place the red-capped bottle upright.",
+    "Grab the long thin bottle, avoid the rectangular green plastic shampoo dispenser while moving, then place the long thin bottle upright.",
+    "With the right arm, pick the smooth bottle with red lid up, avoid the shampoo bottle with black pump, and put the smooth bottle with red lid upright.",
+    "Move the long thin bottle from its spot, skirt the medium size shampoo bottle, and stand the long thin bottle upright.",
+    "With the right arm, take the hand-sized soda bottle, avoid the shampoo bottle with matte black pump while moving, and set the hand-sized soda bottle upright.",
+    "Have the right arm grasp the medium dark brown bottle, avoid the rectangular dark green shampoo bottle while moving, and set the medium dark brown bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the rectangular dark green shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the dark green bottle with pump, and set the dark drink bottle with logo upright.",
+    "With the right arm, take the Coca-Cola bottle up, steer past the dark green bottle with pump, and place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the shampoo bottle with black pump, and place the narrow-necked bottle upright.",
+    "Pick up the brown bottle with red label with the right arm, keep it away from the shampoo container with dispensing pump, place the brown bottle with red label upright.",
+    "Using the right arm, lift the brown bottle with red label, pass clear of the hand-sized shampoo bottle, then place the brown bottle with red label upright.",
+    "Take the dark drink bottle with logo, move it without nearing the rectangular dark green shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Using the right arm, grasp the long thin bottle, move it past the shampoo bottle with smooth surface, then stand the long thin bottle up.",
+    "Grab the red-capped bottle, steer it around the dark green bottle with pump, and place the red-capped bottle upright.",
+    "Use the right arm to grab the plastic drink bottle, carry it away from the rectangular green plastic shampoo dispenser, set the plastic drink bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the shampoo bottle with smooth surface, then set the narrow-necked bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the dark green bottle with pump, place the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the plastic shampoo container, then place the plastic drink bottle upright.",
+    "Use the right arm to pick the bottle with white neck and red top up, avoid the dark green bottle with pump, and place the bottle with white neck and red top upright.",
+    "Guide the right arm to take the red-capped bottle, bypass the plastic shampoo container, and place the red-capped bottle upright.",
+    "Use the right arm, raise the medium dark brown bottle, keep distance from the shampoo bottle with smooth surface, then place the medium dark brown bottle upright.",
+    "With the right arm, take the bottle with ridges on bottom, pass outside the dark green bottle with pump, and put the bottle with ridges on bottom upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle with smooth surface, then stand the bottle with ridges on bottom upright.",
+    "Move the brown bottle with red label away from the rectangular green plastic shampoo dispenser as you lift, then place the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top, route it away from the rectangular green plastic shampoo dispenser, and place the bottle with white neck and red top upright.",
+    "With the right arm, secure the long thin bottle, pass around the shampoo bottle with smooth surface, and set the long thin bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the hand-sized shampoo bottle, and set the narrow-necked bottle upright.",
+    "Take the medium dark brown bottle, keep clear of the shampoo container with dispensing pump, and place the medium dark brown bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the shampoo bottle with smooth surface, then stand the medium dark brown bottle upright.",
+    "Grip the narrow-necked bottle with the right arm, keep distance from the plastic shampoo container, then set the narrow-necked bottle upright.",
+    "With the right arm, pick up the narrow-necked bottle, steer away from the medium size shampoo bottle, and stand the narrow-necked bottle up.",
+    "With the right arm, lift the red-capped bottle, keep it away from the dark green bottle with pump, place the red-capped bottle upright.",
+    "Take the bottle with white neck and red top up, skirt the hand-sized shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Grab the red-capped bottle, keep it from the shampoo container with dispensing pump, and set the red-capped bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the medium size shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the medium size shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Use the right arm to lift the long thin bottle, avoid the shampoo container with dispensing pump en route, and stand the long thin bottle up.",
+    "Grab the medium dark brown bottle, keep it away from the shampoo bottle with black pump, and put the medium dark brown bottle down upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the shampoo container with dispensing pump, then set the bottle with white neck and red top upright.",
+    "Using the right arm, pick the narrow-necked bottle up, keep clear of the shampoo bottle with black pump, place the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the hand-sized shampoo bottle while moving, then place the dark drink bottle with logo upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the shampoo bottle with smooth surface, and put the plastic drink bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the green shampoo bottle, and stand the plastic drink bottle upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the plastic shampoo container while moving, and set the medium dark brown bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the shampoo bottle with smooth surface while moving, and set the long thin bottle upright.",
+    "Lift the brown bottle with red label, route it around the green shampoo bottle, then set the brown bottle with red label upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the medium size shampoo bottle, and set the bottle with white neck and red top upright.",
+    "With the right arm, take the brown bottle with red label up, steer past the shampoo container with dispensing pump, and place the brown bottle with red label upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the shampoo bottle, green with black cap, and place the brown bottle with red label upright.",
+    "Pick up the red-capped bottle with the right arm, keep it away from the green shampoo bottle, place the red-capped bottle upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, pass clear of the green shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, move it without nearing the shampoo bottle with black pump, and stand the Coca-Cola bottle upright.",
+    "Using the right arm, grasp the dark drink bottle with logo, move it past the medium size shampoo bottle, then stand the dark drink bottle with logo up.",
+    "Grab the bottle with ridges on bottom, steer it around the shampoo bottle, green with black cap, and place the bottle with ridges on bottom upright.",
+    "Use the right arm to grab the long thin bottle, carry it away from the dark green bottle with pump, set the long thin bottle upright.",
+    "Lift the hand-sized soda bottle, route its path away from the medium size shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the shampoo bottle with matte black pump, place the hand-sized soda bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the hand-sized shampoo bottle, then place the medium dark brown bottle upright.",
+    "Use the right arm to pick the bottle with ridges on bottom up, avoid the rectangular green plastic shampoo dispenser, and place the bottle with ridges on bottom upright.",
+    "Guide the right arm to take the long thin bottle, bypass the green shampoo bottle, and place the long thin bottle upright.",
+    "Use the right arm, raise the long thin bottle, keep distance from the dark green bottle with pump, then place the long thin bottle upright.",
+    "With the right arm, take the plastic drink bottle, pass outside the shampoo container with dispensing pump, and put the plastic drink bottle upright.",
+    "Grab the red-capped bottle, carry it around the hand-sized shampoo bottle, then stand the red-capped bottle upright.",
+    "Move the medium dark brown bottle away from the dark green bottle with pump as you lift, then place the medium dark brown bottle upright.",
+    "Take the narrow-necked bottle, route it away from the shampoo bottle with smooth surface, and place the narrow-necked bottle upright.",
+    "With the right arm, secure the long thin bottle, pass around the shampoo bottle with black pump, and set the long thin bottle upright.",
+    "Lift the brown bottle with red label, keep its path away from the shampoo bottle with matte black pump, and set the brown bottle with red label upright.",
+    "Take the dark drink bottle with logo, keep clear of the shampoo bottle with matte black pump, and place the dark drink bottle with logo upright.",
+    "Lift the Coca-Cola bottle, guide it around the shampoo container with dispensing pump, then stand the Coca-Cola bottle upright.",
+    "Grip the Coca-Cola bottle with the right arm, keep distance from the medium size shampoo bottle, then set the Coca-Cola bottle upright.",
+    "With the right arm, pick up the long thin bottle, steer away from the shampoo bottle, green with black cap, and stand the long thin bottle up.",
+    "With the right arm, lift the long thin bottle, keep it away from the medium size shampoo bottle, place the long thin bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the dark green bottle with pump, and put the dark drink bottle with logo down upright.",
+    "Grab the narrow-necked bottle, keep it from the shampoo bottle with matte black pump, and set the narrow-necked bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the shampoo bottle with matte black pump, then stand the medium dark brown bottle upright.",
+    "Direct the right arm to pick the Coca-Cola bottle up, avoid the shampoo bottle with matte black pump, and stand the Coca-Cola bottle upright.",
+    "Use the right arm to lift the brown bottle with red label, avoid the rectangular dark green shampoo bottle en route, and stand the brown bottle with red label up.",
+    "Grab the hand-sized soda bottle, keep it away from the shampoo container with dispensing pump, and put the hand-sized soda bottle down upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the shampoo container with dispensing pump, then set the bottle with ridges on bottom upright.",
+    "Using the right arm, pick the plastic drink bottle up, keep clear of the medium size shampoo bottle, place the plastic drink bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the shampoo container with dispensing pump while moving, then place the bottle with ridges on bottom upright.",
+    "With the right arm, pick the hand-sized soda bottle up, avoid the green shampoo bottle, and put the hand-sized soda bottle upright.",
+    "Move the long thin bottle from its spot, skirt the rectangular dark green shampoo bottle, and stand the long thin bottle upright.",
+    "With the right arm, take the plastic drink bottle, avoid the dark green bottle with pump while moving, and set the plastic drink bottle upright.",
+    "Have the right arm grasp the brown bottle with red label, avoid the hand-sized shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Lift the Coca-Cola bottle, route it around the shampoo bottle, green with black cap, then set the Coca-Cola bottle upright.",
+    "Pick up the long thin bottle, swing wide around the medium size shampoo bottle, and set the long thin bottle upright.",
+    "With the right arm, take the bottle with white neck and red top up, steer past the shampoo container with dispensing pump, and place the bottle with white neck and red top upright.",
+    "Using the right arm, lift the plastic drink bottle, keep clear of the medium size shampoo bottle, and place the plastic drink bottle upright.",
+    "Pick up the long thin bottle with the right arm, keep it away from the rectangular dark green shampoo bottle, place the long thin bottle upright.",
+    "Using the right arm, lift the bottle with white neck and red top, pass clear of the medium size shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Take the smooth bottle with red lid, move it without nearing the rectangular dark green shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Using the right arm, grasp the narrow-necked bottle, move it past the shampoo bottle with matte black pump, then stand the narrow-necked bottle up.",
+    "Grab the medium dark brown bottle, steer it around the green shampoo bottle, and place the medium dark brown bottle upright.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the shampoo bottle with smooth surface, set the dark drink bottle with logo upright.",
+    "Lift the long thin bottle, route its path away from the dark green bottle with pump, then set the long thin bottle upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the shampoo container with dispensing pump, place the dark drink bottle with logo upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the shampoo bottle, green with black cap, then place the Coca-Cola bottle upright."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the dark green pump shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the dark green pump shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the green bottle with pump top, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode39.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..7427a69163edc2333936f697ae5cc8c7dd69ebb0
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red-capped bottle up, keep its path clear of the shampoo bottle with rectangular base, place the red-capped bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the smooth shampoo container, then stand the smooth bottle with red lid up.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the bottle for shampoo with glossy finish, and stand the brown bottle with red label up.",
+    "Grab the smooth bottle with red lid, keep it from the bottle with yellow cap, and set the smooth bottle with red lid upright.",
+    "Move the bottle with white neck and red top away from the white shampoo bottle as you lift, then place the bottle with white neck and red top upright.",
+    "Pick up the red-capped bottle, swing wide around the bottle for shampoo with glossy finish, and set the red-capped bottle upright.",
+    "Grab the red-capped bottle, carry it around the white bottle with golden accents, then stand the red-capped bottle upright.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the bottle for shampoo with glossy finish, and place the smooth bottle with red lid upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the rectangular shampoo bottle with rounded top, and set the Coca-Cola bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the white bottle with golden accents, then stand the medium dark brown bottle upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the plastic shampoo bottle with smooth surface, set the narrow-necked bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the white shampoo bottle with golden top, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the white shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Take the dark drink bottle with logo, route it away from the smooth shampoo container, and place the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, keep it away from the white bottle with golden accents, and put the red-capped bottle down upright.",
+    "With the left arm, take the plastic drink bottle, avoid the rectangular shampoo bottle with rounded top while moving, and set the plastic drink bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the shampoo bottle with rectangular base, then place the bottle with white neck and red top upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the smooth shampoo container, place the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the plastic shampoo bottle with smooth surface, then place the dark drink bottle with logo upright.",
+    "With the left arm, take the red-capped bottle up, steer past the hand-held shampoo bottle, and place the red-capped bottle upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the smooth shampoo container, then set the plastic drink bottle upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the plastic shampoo bottle with smooth surface, place the brown bottle with red label upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the shampoo bottle with rectangular base while moving, and set the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, route it around the plastic shampoo bottle with smooth surface, then set the dark drink bottle with logo upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the shampoo bottle with rectangular base, place the hand-sized soda bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the plastic shampoo bottle with smooth surface while moving, then place the smooth bottle with red lid upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the white shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Use the left arm to lift the medium dark brown bottle, avoid the white shampoo bottle en route, and stand the medium dark brown bottle up.",
+    "Take the bottle with ridges on bottom, keep clear of the medium shampoo container, and place the bottle with ridges on bottom upright.",
+    "Grab the smooth bottle with red lid, steer it around the white shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Lift the brown bottle with red label, route its path away from the rectangular shampoo bottle with rounded top, then set the brown bottle with red label upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the shampoo bottle with rectangular base, and put the smooth bottle with red lid upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the bottle with yellow cap, then place the narrow-necked bottle upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the hand-held shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Take the smooth bottle with red lid up, skirt the rectangular shampoo bottle with rounded top, and put the smooth bottle with red lid down upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the white shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Pick up the smooth bottle with red lid, route it around the rectangular shampoo bottle with rounded top, then stand the smooth bottle with red lid upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the medium shampoo container, and place the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the white shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the medium shampoo container, and stand the bottle with ridges on bottom upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the shampoo bottle, place the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the shampoo bottle with rectangular base, then stand the red-capped bottle up.",
+    "With the left arm, pick up the plastic drink bottle, steer away from the bottle with yellow cap, and stand the plastic drink bottle up.",
+    "Grab the brown bottle with red label, keep it from the white shampoo bottle, and set the brown bottle with red label upright.",
+    "Move the red-capped bottle away from the white bottle with golden accents as you lift, then place the red-capped bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the white shampoo bottle with golden top, and set the dark drink bottle with logo upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the shampoo bottle with rectangular base, and place the narrow-necked bottle upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the smooth shampoo container, and set the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, guide it around the white bottle with golden accents, then stand the smooth bottle with red lid upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the plastic shampoo bottle with smooth surface, set the narrow-necked bottle upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the bottle for shampoo with glossy finish, and place the long thin bottle upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the bottle for shampoo with glossy finish, and put the narrow-necked bottle upright.",
+    "Take the bottle with white neck and red top, route it away from the bottle for shampoo with glossy finish, and place the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, keep it away from the plastic shampoo bottle with smooth surface, and put the bottle with white neck and red top down upright.",
+    "With the left arm, take the plastic drink bottle, avoid the shampoo bottle with rectangular base while moving, and set the plastic drink bottle upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the plastic shampoo bottle with smooth surface, then place the long thin bottle upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the white bottle with golden accents, place the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, move it without crossing the white shampoo bottle, then place the medium dark brown bottle upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the smooth shampoo container, and place the hand-sized soda bottle upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the white shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the plastic shampoo bottle with smooth surface, place the hand-sized soda bottle upright.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the hand-held shampoo bottle while moving, and set the bottle with white neck and red top upright.",
+    "Lift the smooth bottle with red lid, route it around the medium shampoo container, then set the smooth bottle with red lid upright.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the medium shampoo container, place the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, avoid the hand-held shampoo bottle while moving, then place the Coca-Cola bottle upright.",
+    "Move the long thin bottle from its spot, skirt the shampoo bottle, and stand the long thin bottle upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the white shampoo bottle with golden top en route, and stand the dark drink bottle with logo up.",
+    "Take the smooth bottle with red lid, keep clear of the medium shampoo container, and place the smooth bottle with red lid upright.",
+    "Grab the plastic drink bottle, steer it around the plastic shampoo bottle with smooth surface, and place the plastic drink bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the medium shampoo container, and put the red-capped bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the hand-held shampoo bottle, then place the brown bottle with red label upright.",
+    "Take the long thin bottle, move it without nearing the shampoo bottle with rectangular base, and stand the long thin bottle upright.",
+    "Take the medium dark brown bottle up, skirt the white bottle with golden accents, and put the medium dark brown bottle down upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the white shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the medium shampoo container, then stand the medium dark brown bottle upright.",
+    "Guide the left arm to take the bottle with ridges on bottom, bypass the shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, keep its path clear of the medium shampoo container, then set the long thin bottle upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the bottle with yellow cap, and stand the medium dark brown bottle upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the bottle with yellow cap, place the brown bottle with red label upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the medium shampoo container, then stand the narrow-necked bottle up.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the bottle for shampoo with glossy finish, and stand the smooth bottle with red lid up.",
+    "Grab the Coca-Cola bottle, keep it from the shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Move the medium dark brown bottle away from the smooth shampoo container as you lift, then place the medium dark brown bottle upright.",
+    "Pick up the brown bottle with red label, swing wide around the shampoo bottle, and set the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, carry it around the white shampoo bottle, then stand the brown bottle with red label upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the white bottle with golden accents, and set the Coca-Cola bottle upright.",
+    "Lift the brown bottle with red label, guide it around the smooth shampoo container, then stand the brown bottle with red label upright.",
+    "Use the left arm to grab the medium dark brown bottle, carry it away from the rectangular shampoo bottle with rounded top, set the medium dark brown bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the shampoo bottle with rectangular base, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the rectangular shampoo bottle with rounded top, and put the bottle with white neck and red top upright.",
+    "Take the long thin bottle, route it away from the white shampoo bottle with golden top, and place the long thin bottle upright.",
+    "Grab the long thin bottle, keep it away from the shampoo bottle, and put the long thin bottle down upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo bottle while moving, and set the narrow-necked bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the white shampoo bottle with golden top, then place the bottle with white neck and red top upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the white bottle with golden accents, place the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, move it without crossing the bottle for shampoo with glossy finish, then place the medium dark brown bottle upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the rectangular shampoo bottle with rounded top, and place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the brown bottle, carry it clear of the white plastic shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the medium-sized shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white plastic shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white plastic shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the medium-sized shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the white plastic shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the white plastic shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white plastic shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the medium-sized shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the medium-sized shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode4.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..0340a7b63a3f8c4315a85f4dda42a17f8a144adf
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the medium dark brown bottle up, avoid the hand-sized pink shampoo container, and place the medium dark brown bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the rectangular pink shampoo container, then set the red-capped bottle upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the pink bottle with black dispenser, place the brown bottle with red label upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the rectangular pink shampoo container, place the dark drink bottle with logo upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the pink shampoo container with pump top, and put the red-capped bottle upright.",
+    "Grab the hand-sized soda bottle, avoid the smooth pink plastic shampoo bottle while moving, then place the hand-sized soda bottle upright.",
+    "Take the hand-sized soda bottle, route it away from the medium pink bottle for shampoo, and place the hand-sized soda bottle upright.",
+    "With the left arm, secure the brown bottle with red label, pass around the pink bottle with narrow top, and set the brown bottle with red label upright.",
+    "Grab the long thin bottle, keep it from the shampoo bottle with rectangular shape, and set the long thin bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the hand-sized pink shampoo container, and place the Coca-Cola bottle upright.",
+    "Lift the medium dark brown bottle, route it around the pink shampoo bottle, then set the medium dark brown bottle upright.",
+    "Take the red-capped bottle, move it without nearing the pink bottle with narrow top, and stand the red-capped bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the rectangular pink bottle with dispenser, and put the bottle with white neck and red top upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the rectangular pink shampoo container, then place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the pink shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the shampoo bottle with shiny pink body, then set the narrow-necked bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the rectangular pink bottle with dispenser, and place the long thin bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the pink shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Take the plastic drink bottle, keep clear of the rectangular pink shampoo container, and place the plastic drink bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the rectangular pink bottle with dispenser, and stand the Coca-Cola bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the shampoo bottle with shiny pink body, set the brown bottle with red label upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the pink shampoo container with pump top, and set the Coca-Cola bottle upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the plastic shampoo bottle with black pump while moving, and set the narrow-necked bottle upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the pink bottle with black dispenser, and stand the long thin bottle upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the smooth pink plastic shampoo bottle en route, and stand the narrow-necked bottle up.",
+    "Pick up the plastic drink bottle, route it around the pink bottle with narrow top, then stand the plastic drink bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the pink shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the rectangular pink bottle with dispenser, and stand the medium dark brown bottle up.",
+    "Lift the bottle with white neck and red top, route its path away from the rectangular pink bottle with dispenser, then set the bottle with white neck and red top upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the smooth pink plastic shampoo bottle, then place the narrow-necked bottle upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the smooth pink plastic shampoo bottle, then stand the brown bottle with red label up.",
+    "Lift the dark drink bottle with logo, keep its path away from the pink shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Grab the plastic drink bottle, keep it away from the rectangular pink bottle with dispenser, and put the plastic drink bottle down upright.",
+    "Grab the hand-sized soda bottle, carry it around the medium pink bottle for shampoo, then stand the hand-sized soda bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the plastic shampoo bottle with black pump, then stand the bottle with white neck and red top upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the shampoo bottle with rectangular shape while moving, and set the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, steer it around the pink shampoo bottle, and place the long thin bottle upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the pink bottle with narrow top, place the long thin bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the smooth pink plastic shampoo bottle, place the hand-sized soda bottle upright.",
+    "Move the red-capped bottle away from the rectangular pink bottle with dispenser as you lift, then place the red-capped bottle upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the plastic shampoo bottle with black pump, and place the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the pink bottle with black dispenser, then set the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle with the left arm, keep it away from the pink shampoo container with pump top, place the narrow-necked bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo bottle with rectangular shape, place the plastic drink bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the rectangular pink shampoo container, and put the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, avoid the pink bottle with black dispenser while moving, then place the medium dark brown bottle upright.",
+    "Take the plastic drink bottle, route it away from the rectangular pink bottle with dispenser, and place the plastic drink bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the pink shampoo bottle, and set the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, keep it from the shampoo bottle with rectangular shape, and set the medium dark brown bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the rectangular pink bottle with dispenser, and place the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, route it around the pink shampoo bottle, then set the red-capped bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the medium pink bottle for shampoo, and stand the plastic drink bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the pink bottle with narrow top, and put the hand-sized soda bottle upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the medium pink bottle for shampoo, then place the hand-sized soda bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the shampoo bottle with shiny pink body, then place the hand-sized soda bottle upright.",
+    "Grip the dark drink bottle with logo with the left arm, keep distance from the hand-sized pink shampoo container, then set the dark drink bottle with logo upright.",
+    "Guide the left arm to take the smooth bottle with red lid, bypass the shampoo bottle with rectangular shape, and place the smooth bottle with red lid upright.",
+    "Take the narrow-necked bottle up, skirt the shampoo bottle with shiny pink body, and put the narrow-necked bottle down upright.",
+    "Take the Coca-Cola bottle, keep clear of the pink bottle with black dispenser, and place the Coca-Cola bottle upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the pink shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Use the left arm to grab the medium dark brown bottle, carry it away from the shampoo bottle with shiny pink body, set the medium dark brown bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the hand-sized pink shampoo container, and set the bottle with white neck and red top upright.",
+    "With the left arm, take the brown bottle with red label, avoid the hand-sized pink shampoo container while moving, and set the brown bottle with red label upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the hand-sized pink shampoo container, and stand the long thin bottle upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the pink bottle with narrow top en route, and stand the Coca-Cola bottle up.",
+    "Pick up the bottle with white neck and red top, route it around the rectangular pink shampoo container, then stand the bottle with white neck and red top upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the medium pink bottle for shampoo, and place the medium dark brown bottle upright.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the pink shampoo bottle, and stand the narrow-necked bottle up.",
+    "Lift the bottle with white neck and red top, route its path away from the pink bottle with black dispenser, then set the bottle with white neck and red top upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the rectangular pink bottle with dispenser, then place the long thin bottle upright.",
+    "Using the left arm, grasp the plastic drink bottle, move it past the plastic shampoo bottle with black pump, then stand the plastic drink bottle up.",
+    "Lift the bottle with ridges on bottom, keep its path away from the smooth pink plastic shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Grab the bottle with white neck and red top, keep it away from the rectangular pink bottle with dispenser, and put the bottle with white neck and red top down upright.",
+    "Grab the brown bottle with red label, carry it around the pink shampoo bottle, then stand the brown bottle with red label upright.",
+    "Lift the narrow-necked bottle, guide it around the smooth pink plastic shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the pink bottle with narrow top while moving, and set the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, steer it around the pink bottle with black dispenser, and place the Coca-Cola bottle upright.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the shampoo bottle with shiny pink body, place the Coca-Cola bottle upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the hand-sized pink shampoo container, place the Coca-Cola bottle upright.",
+    "Move the medium dark brown bottle away from the pink bottle with black dispenser as you lift, then place the medium dark brown bottle upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the plastic shampoo bottle with black pump, and place the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the pink shampoo container with pump top, then set the smooth bottle with red lid upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the hand-sized pink shampoo container, place the Coca-Cola bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the medium pink bottle for shampoo, place the narrow-necked bottle upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the medium pink bottle for shampoo, and put the red-capped bottle upright.",
+    "Grab the red-capped bottle, avoid the shampoo bottle with rectangular shape while moving, then place the red-capped bottle upright.",
+    "Take the hand-sized soda bottle, route it away from the plastic shampoo bottle with black pump, and place the hand-sized soda bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the hand-sized pink shampoo container, and set the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the hand-sized pink shampoo container, and set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the hand-sized pink shampoo container, and place the bottle with ridges on bottom upright.",
+    "Lift the brown bottle with red label, route it around the shampoo bottle with rectangular shape, then set the brown bottle with red label upright.",
+    "Take the long thin bottle, move it without nearing the pink shampoo bottle, and stand the long thin bottle upright.",
+    "With the left arm, take the red-capped bottle, pass outside the pink shampoo bottle, and put the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the pink shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the pink shampoo container with pump top, then place the medium dark brown bottle upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the shampoo bottle with shiny pink body, then set the hand-sized soda bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the hand-sized pink shampoo container, and place the narrow-necked bottle upright.",
+    "Take the Coca-Cola bottle up, skirt the medium pink bottle for shampoo, and put the Coca-Cola bottle down upright.",
+    "Take the Coca-Cola bottle, keep clear of the smooth pink plastic shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the pink shampoo bottle, and stand the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the plastic pink shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the plastic pink shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the plastic pink shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the plastic pink shampoo bottle, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode40.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..c14cf17786c761a98b370bba31df6e5c0a60a5bc
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the handheld shampoo container, set the hand-sized soda bottle upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the handheld shampoo container, place the dark drink bottle with logo upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the plastic shampoo with orange label, then set the bottle with ridges on bottom upright.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the shampoo bottle with blue cap, and stand the Coca-Cola bottle up.",
+    "Pick up the long thin bottle, route it around the plastic shampoo bottle, then stand the long thin bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the plastic shampoo with orange label, then set the smooth bottle with red lid upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the handheld shampoo container, and place the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the medium-sized white plastic shampoo, then set the red-capped bottle upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the white and blue shampoo container while moving, and set the narrow-necked bottle upright.",
+    "Lift the red-capped bottle, guide it around the medium-sized white plastic shampoo, then stand the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, keep it away from the blue top shampoo bottle, and put the smooth bottle with red lid down upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the white and blue shampoo container, place the red-capped bottle upright.",
+    "Move the smooth bottle with red lid away from the bottle with smooth surface as you lift, then place the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the blue top shampoo bottle, then stand the bottle with ridges on bottom up.",
+    "Grab the long thin bottle, steer it around the white shampoo bottle, and place the long thin bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the bottle with smooth surface, then set the bottle with white neck and red top upright.",
+    "Grab the red-capped bottle, carry it around the curved shampoo bottle, then stand the red-capped bottle upright.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the plastic shampoo with orange label, and place the brown bottle with red label upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the plastic shampoo with orange label, then place the smooth bottle with red lid upright.",
+    "Pick up the narrow-necked bottle, swing wide around the white and blue shampoo container, and set the narrow-necked bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the blue top shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the shampoo bottle with blue cap, and stand the long thin bottle upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the handheld shampoo container, and put the Coca-Cola bottle upright.",
+    "Take the red-capped bottle, keep clear of the white shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the narrow-necked bottle, keep it from the bottle with hexagonal blue cap, and set the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the shampoo bottle with blue cap, and stand the narrow-necked bottle upright.",
+    "Move the brown bottle with red label from its spot, skirt the white shampoo bottle, and stand the brown bottle with red label upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the medium-sized white plastic shampoo, then place the bottle with white neck and red top upright.",
+    "Lift the brown bottle with red label, keep its path away from the white and blue shampoo container, and set the brown bottle with red label upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the blue top shampoo bottle, then place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the plastic shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the bottle with smooth surface en route, and stand the narrow-necked bottle up.",
+    "With the left arm, take the red-capped bottle, pass outside the medium-sized white plastic shampoo, and put the red-capped bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the shampoo bottle with curved sides, and place the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the plastic shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Pick up the bottle with ridges on bottom with the left arm, keep it away from the blue top shampoo bottle, place the bottle with ridges on bottom upright.",
+    "Take the medium dark brown bottle, route it away from the handheld shampoo container, and place the medium dark brown bottle upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the curved shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the blue top shampoo bottle, place the hand-sized soda bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the medium-sized white plastic shampoo while moving, and set the hand-sized soda bottle upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the plastic shampoo bottle, set the red-capped bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the medium-sized white plastic shampoo, place the long thin bottle upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the medium-sized white plastic shampoo, then set the red-capped bottle upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the white and blue shampoo container, and stand the brown bottle with red label up.",
+    "Pick up the hand-sized soda bottle, route it around the shampoo bottle with blue cap, then stand the hand-sized soda bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the blue top shampoo bottle, then set the Coca-Cola bottle upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the curved shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the medium-sized white plastic shampoo, then set the bottle with ridges on bottom upright.",
+    "Have the left arm grasp the long thin bottle, avoid the medium-sized white plastic shampoo while moving, and set the long thin bottle upright.",
+    "Lift the brown bottle with red label, guide it around the blue top shampoo bottle, then stand the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, keep it away from the shampoo bottle with curved sides, and put the hand-sized soda bottle down upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the medium-sized white plastic shampoo, place the brown bottle with red label upright.",
+    "Move the smooth bottle with red lid away from the white shampoo bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the medium-sized white plastic shampoo, then stand the smooth bottle with red lid up.",
+    "Grab the hand-sized soda bottle, steer it around the shampoo bottle with blue cap, and place the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, route its path away from the handheld shampoo container, then set the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, carry it around the white shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the blue top shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the shampoo bottle with blue cap, then place the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle, swing wide around the bottle with smooth surface, and set the narrow-necked bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the white shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the medium-sized white plastic shampoo, and stand the red-capped bottle upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the shampoo bottle with curved sides, and put the brown bottle with red label upright.",
+    "Take the smooth bottle with red lid, keep clear of the white shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Grab the bottle with ridges on bottom, keep it from the plastic shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Take the red-capped bottle, move it without nearing the shampoo bottle with curved sides, and stand the red-capped bottle upright.",
+    "Move the long thin bottle from its spot, skirt the plastic shampoo bottle, and stand the long thin bottle upright.",
+    "Grab the long thin bottle, move it without crossing the shampoo bottle with blue cap, then place the long thin bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the white shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Use the left arm, raise the medium dark brown bottle, keep distance from the bottle with hexagonal blue cap, then place the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the shampoo bottle with curved sides while moving, then place the bottle with ridges on bottom upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the blue top shampoo bottle en route, and stand the narrow-necked bottle up.",
+    "With the left arm, take the plastic drink bottle, pass outside the white and blue shampoo container, and put the plastic drink bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the bottle with hexagonal blue cap, and place the long thin bottle upright.",
+    "Take the plastic drink bottle up, skirt the bottle with smooth surface, and put the plastic drink bottle down upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the curved shampoo bottle, place the red-capped bottle upright.",
+    "Take the narrow-necked bottle, route it away from the plastic shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the shampoo bottle with blue cap, and set the smooth bottle with red lid upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the medium-sized white plastic shampoo, place the long thin bottle upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the white and blue shampoo container while moving, and set the medium dark brown bottle upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the medium-sized white plastic shampoo, set the Coca-Cola bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the plastic shampoo with orange label, place the long thin bottle upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the handheld shampoo container, then set the hand-sized soda bottle upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the handheld shampoo container, and stand the bottle with white neck and red top up.",
+    "Pick up the smooth bottle with red lid, route it around the white shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, route it around the bottle with smooth surface, then set the smooth bottle with red lid upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the handheld shampoo container, and place the hand-sized soda bottle upright.",
+    "Lift the brown bottle with red label, keep its path clear of the bottle with hexagonal blue cap, then set the brown bottle with red label upright.",
+    "Have the left arm grasp the long thin bottle, avoid the handheld shampoo container while moving, and set the long thin bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the curved shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, keep it away from the plastic shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the blue top shampoo bottle, place the Coca-Cola bottle upright.",
+    "Move the red-capped bottle away from the bottle with smooth surface as you lift, then place the red-capped bottle upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the bottle with smooth surface, then stand the dark drink bottle with logo up.",
+    "Grab the Coca-Cola bottle, steer it around the white and blue shampoo container, and place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, route its path away from the blue top shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Grab the Coca-Cola bottle, carry it around the white and blue shampoo container, then stand the Coca-Cola bottle upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the blue top shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Using the left arm, lift the Coca-Cola bottle, pass clear of the handheld shampoo container, then place the Coca-Cola bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the medium-sized white plastic shampoo, and set the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode41.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..497da173f1310ff09bdf1c4c407871260fc126a5
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red-capped bottle, move it without crossing the rectangular green plastic shampoo dispenser, then place the red-capped bottle upright.",
+    "With the right arm, take the bottle with ridges on bottom up, steer past the shampoo container with dispensing pump, and place the bottle with ridges on bottom upright.",
+    "With the right arm, pick up the narrow-necked bottle, steer away from the green shampoo bottle, and stand the narrow-necked bottle up.",
+    "Lift the dark drink bottle with logo, route it around the hand-sized shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, avoid the shampoo container with dispensing pump while moving, then place the red-capped bottle upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the dark green bottle with pump, then place the Coca-Cola bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the shampoo bottle with smooth surface while moving, and set the long thin bottle upright.",
+    "Take the dark drink bottle with logo, move it without nearing the plastic shampoo container, and stand the dark drink bottle with logo upright.",
+    "With the right arm, take the narrow-necked bottle, avoid the plastic shampoo container while moving, and set the narrow-necked bottle upright.",
+    "Grip the red-capped bottle with the right arm, keep distance from the shampoo bottle with black pump, then set the red-capped bottle upright.",
+    "Take the brown bottle with red label, keep clear of the medium size shampoo bottle, and place the brown bottle with red label upright.",
+    "Use the right arm to pick the hand-sized soda bottle up, avoid the green shampoo bottle, and place the hand-sized soda bottle upright.",
+    "With the right arm, lift the hand-sized soda bottle, keep it away from the shampoo bottle with black pump, place the hand-sized soda bottle upright.",
+    "With the right arm, take the plastic drink bottle, pass outside the hand-sized shampoo bottle, and put the plastic drink bottle upright.",
+    "Lift the red-capped bottle, keep its path away from the dark green bottle with pump, and set the red-capped bottle upright.",
+    "Using the right arm, pick the plastic drink bottle up, keep clear of the hand-sized shampoo bottle, place the plastic drink bottle upright.",
+    "Pick up the bottle with ridges on bottom with the right arm, keep it away from the rectangular green plastic shampoo dispenser, place the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, keep clear of the hand-sized shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Use the right arm to grab the bottle with white neck and red top, carry it away from the shampoo bottle, green with black cap, set the bottle with white neck and red top upright.",
+    "Using the right arm, lift the long thin bottle, pass clear of the rectangular green plastic shampoo dispenser, then place the long thin bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the plastic shampoo container, and stand the bottle with white neck and red top upright.",
+    "Lift the brown bottle with red label, route its path away from the dark green bottle with pump, then set the brown bottle with red label upright.",
+    "Use the right arm to lift the medium dark brown bottle, avoid the shampoo container with dispensing pump en route, and stand the medium dark brown bottle up.",
+    "Grab the smooth bottle with red lid, keep it from the medium size shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, carry it around the shampoo container with dispensing pump, then stand the bottle with white neck and red top upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the dark green bottle with pump, place the dark drink bottle with logo upright.",
+    "Lift the bottle with white neck and red top, guide it around the shampoo bottle with smooth surface, then stand the bottle with white neck and red top upright.",
+    "Direct the right arm to pick the long thin bottle up, avoid the rectangular dark green shampoo bottle, and stand the long thin bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the shampoo bottle with smooth surface, and put the hand-sized soda bottle down upright.",
+    "Pick up the medium dark brown bottle, route it around the shampoo bottle, green with black cap, then stand the medium dark brown bottle upright.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the shampoo bottle with smooth surface, then stand the hand-sized soda bottle up.",
+    "Grab the red-capped bottle, steer it around the dark green bottle with pump, and place the red-capped bottle upright.",
+    "Lift the long thin bottle, keep its path clear of the dark green bottle with pump, then set the long thin bottle upright.",
+    "Guide the right arm to take the dark drink bottle with logo, bypass the hand-sized shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Pick up the medium dark brown bottle, swing wide around the rectangular green plastic shampoo dispenser, and set the medium dark brown bottle upright.",
+    "With the right arm, secure the narrow-necked bottle, pass around the shampoo bottle, green with black cap, and set the narrow-necked bottle upright.",
+    "Take the dark drink bottle with logo, route it away from the shampoo bottle with smooth surface, and place the dark drink bottle with logo upright.",
+    "Grab the smooth bottle with red lid, keep it away from the green shampoo bottle, and put the smooth bottle with red lid down upright.",
+    "Move the plastic drink bottle away from the shampoo bottle with smooth surface as you lift, then place the plastic drink bottle upright.",
+    "With the right arm, pick the long thin bottle up, avoid the shampoo bottle with matte black pump, and put the long thin bottle upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the medium size shampoo bottle, then place the smooth bottle with red lid upright.",
+    "With the right arm, take the smooth bottle with red lid up, steer past the shampoo bottle with black pump, and place the smooth bottle with red lid upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the rectangular dark green shampoo bottle, and stand the dark drink bottle with logo up.",
+    "Lift the hand-sized soda bottle, route it around the shampoo container with dispensing pump, then set the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, avoid the shampoo bottle with matte black pump while moving, then place the narrow-necked bottle upright.",
+    "Use the right arm, raise the bottle with ridges on bottom, keep distance from the dark green bottle with pump, then place the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the dark drink bottle with logo, avoid the shampoo bottle with smooth surface while moving, and set the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, move it without nearing the rectangular dark green shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "With the right arm, take the long thin bottle, avoid the rectangular dark green shampoo bottle while moving, and set the long thin bottle upright.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the rectangular green plastic shampoo dispenser, then set the plastic drink bottle upright.",
+    "Take the Coca-Cola bottle, keep clear of the dark green bottle with pump, and place the Coca-Cola bottle upright.",
+    "Use the right arm to pick the hand-sized soda bottle up, avoid the shampoo container with dispensing pump, and place the hand-sized soda bottle upright.",
+    "With the right arm, lift the smooth bottle with red lid, keep it away from the dark green bottle with pump, place the smooth bottle with red lid upright.",
+    "With the right arm, take the long thin bottle, pass outside the rectangular dark green shampoo bottle, and put the long thin bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle, green with black cap, and set the narrow-necked bottle upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the green shampoo bottle, place the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle with the right arm, keep it away from the medium size shampoo bottle, place the narrow-necked bottle upright.",
+    "Using the right arm, lift the plastic drink bottle, keep clear of the shampoo container with dispensing pump, and place the plastic drink bottle upright.",
+    "Use the right arm to grab the smooth bottle with red lid, carry it away from the rectangular dark green shampoo bottle, set the smooth bottle with red lid upright.",
+    "Using the right arm, lift the Coca-Cola bottle, pass clear of the rectangular green plastic shampoo dispenser, then place the Coca-Cola bottle upright.",
+    "Move the brown bottle with red label from its spot, skirt the medium size shampoo bottle, and stand the brown bottle with red label upright.",
+    "Lift the Coca-Cola bottle, route its path away from the rectangular green plastic shampoo dispenser, then set the Coca-Cola bottle upright.",
+    "Use the right arm to lift the narrow-necked bottle, avoid the green shampoo bottle en route, and stand the narrow-necked bottle up.",
+    "Grab the smooth bottle with red lid, keep it from the shampoo bottle with black pump, and set the smooth bottle with red lid upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle with black pump, then stand the bottle with ridges on bottom upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo container with dispensing pump, place the plastic drink bottle upright.",
+    "Lift the plastic drink bottle, guide it around the dark green bottle with pump, then stand the plastic drink bottle upright.",
+    "Direct the right arm to pick the red-capped bottle up, avoid the dark green bottle with pump, and stand the red-capped bottle upright.",
+    "Take the red-capped bottle up, skirt the shampoo bottle with matte black pump, and put the red-capped bottle down upright.",
+    "Pick up the medium dark brown bottle, route it around the green shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Using the right arm, grasp the long thin bottle, move it past the shampoo bottle, green with black cap, then stand the long thin bottle up.",
+    "Grab the Coca-Cola bottle, steer it around the dark green bottle with pump, and place the Coca-Cola bottle upright.",
+    "Lift the plastic drink bottle, keep its path clear of the medium size shampoo bottle, then set the plastic drink bottle upright.",
+    "Guide the right arm to take the bottle with ridges on bottom, bypass the shampoo bottle with matte black pump, and place the bottle with ridges on bottom upright.",
+    "Pick up the medium dark brown bottle, swing wide around the shampoo bottle with matte black pump, and set the medium dark brown bottle upright.",
+    "With the right arm, secure the smooth bottle with red lid, pass around the rectangular green plastic shampoo dispenser, and set the smooth bottle with red lid upright.",
+    "Take the brown bottle with red label, route it away from the shampoo bottle with smooth surface, and place the brown bottle with red label upright.",
+    "Grab the medium dark brown bottle, keep it away from the green shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Move the long thin bottle away from the rectangular dark green shampoo bottle as you lift, then place the long thin bottle upright.",
+    "With the right arm, pick the bottle with ridges on bottom up, avoid the shampoo bottle, green with black cap, and put the bottle with ridges on bottom upright.",
+    "Grab the red-capped bottle, move it without crossing the shampoo bottle with black pump, then place the red-capped bottle upright.",
+    "With the right arm, take the long thin bottle up, steer past the medium size shampoo bottle, and place the long thin bottle upright.",
+    "With the right arm, pick up the bottle with white neck and red top, steer away from the shampoo bottle, green with black cap, and stand the bottle with white neck and red top up.",
+    "Lift the medium dark brown bottle, route it around the green shampoo bottle, then set the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, avoid the shampoo bottle, green with black cap while moving, then place the plastic drink bottle upright.",
+    "Use the right arm, raise the red-capped bottle, keep distance from the shampoo bottle with matte black pump, then place the red-capped bottle upright.",
+    "Have the right arm grasp the hand-sized soda bottle, avoid the shampoo container with dispensing pump while moving, and set the hand-sized soda bottle upright.",
+    "Take the bottle with white neck and red top, move it without nearing the shampoo bottle with smooth surface, and stand the bottle with white neck and red top upright.",
+    "With the right arm, take the hand-sized soda bottle, avoid the shampoo bottle with smooth surface while moving, and set the hand-sized soda bottle upright.",
+    "Grip the Coca-Cola bottle with the right arm, keep distance from the rectangular green plastic shampoo dispenser, then set the Coca-Cola bottle upright.",
+    "Take the bottle with white neck and red top, keep clear of the shampoo bottle, green with black cap, and place the bottle with white neck and red top upright.",
+    "Use the right arm to pick the smooth bottle with red lid up, avoid the dark green bottle with pump, and place the smooth bottle with red lid upright.",
+    "With the right arm, lift the narrow-necked bottle, keep it away from the shampoo container with dispensing pump, place the narrow-necked bottle upright.",
+    "With the right arm, take the hand-sized soda bottle, pass outside the plastic shampoo container, and put the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, keep its path away from the shampoo bottle, green with black cap, and set the red-capped bottle upright.",
+    "Using the right arm, pick the brown bottle with red label up, keep clear of the shampoo bottle with smooth surface, place the brown bottle with red label upright.",
+    "Pick up the medium dark brown bottle with the right arm, keep it away from the shampoo bottle, green with black cap, place the medium dark brown bottle upright.",
+    "Using the right arm, lift the long thin bottle, keep clear of the shampoo container with dispensing pump, and place the long thin bottle upright.",
+    "Use the right arm to grab the narrow-necked bottle, carry it away from the plastic shampoo container, set the narrow-necked bottle upright.",
+    "Using the right arm, lift the red-capped bottle, pass clear of the shampoo bottle, green with black cap, then place the red-capped bottle upright."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the green bottle with pump top, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode42.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..e81a06d19af23db3320f768ec66ae33002c7b924
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, lift the plastic bottle, pass clear of the shampoo bottle with black pump, then place the plastic bottle upright.",
+    "Grab the smooth green bottle, steer it around the shampoo bottle with matte black pump, and place the smooth green bottle upright.",
+    "Lift the bottle with narrow top, route its path away from the green shampoo bottle, then set the bottle with narrow top upright.",
+    "Take the medium green bottle with capped neck up, skirt the green shampoo bottle, and put the medium green bottle with capped neck down upright.",
+    "Pick up the smooth green plastic bottle with the left arm, keep it away from the dark green bottle with pump, place the smooth green plastic bottle upright.",
+    "Pick up the bottle with ridges near base, route it around the plastic shampoo container, then stand the bottle with ridges near base upright.",
+    "With the left arm, lift the bottle with rounded neck, keep it away from the plastic shampoo container, place the bottle with rounded neck upright.",
+    "Take the bottle with rounded neck, route it away from the shampoo bottle with black pump, and place the bottle with rounded neck upright.",
+    "Use the left arm, raise the smooth green bottle, keep distance from the shampoo bottle with smooth surface, then place the smooth green bottle upright.",
+    "With the left arm, take the plastic bottle, avoid the shampoo container with dispensing pump while moving, and set the plastic bottle upright.",
+    "Grab the handheld green bottle, keep it away from the shampoo bottle with smooth surface, and put the handheld green bottle down upright.",
+    "Guide the left arm to take the green bottle with indented base, bypass the shampoo bottle with smooth surface, and place the green bottle with indented base upright.",
+    "Use the left arm to lift the bottle with narrow top, avoid the dark green bottle with pump en route, and stand the bottle with narrow top up.",
+    "With the left arm, take the medium green bottle, pass outside the rectangular dark green shampoo bottle, and put the medium green bottle upright.",
+    "Grab the medium-sized green bottle, carry it around the hand-sized shampoo bottle, then stand the medium-sized green bottle upright.",
+    "With the left arm, secure the handheld green bottle, pass around the rectangular dark green shampoo bottle, and set the handheld green bottle upright.",
+    "Move the medium green bottle away from the shampoo bottle with smooth surface as you lift, then place the medium green bottle upright.",
+    "With the left arm, pick up the bottle with narrow top, steer away from the shampoo container with dispensing pump, and stand the bottle with narrow top up.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the rectangular green plastic shampoo dispenser, place the smooth green plastic bottle upright.",
+    "Grip the bottle with narrow top with the left arm, keep distance from the dark green bottle with pump, then set the bottle with narrow top upright.",
+    "Grab the bottle with white printed label, keep it from the green shampoo bottle, and set the bottle with white printed label upright.",
+    "Have the left arm grasp the smooth green bottle, avoid the rectangular green plastic shampoo dispenser while moving, and set the smooth green bottle upright.",
+    "Direct the left arm to pick the medium green bottle with capped neck up, avoid the shampoo bottle, green with black cap, and stand the medium green bottle with capped neck upright.",
+    "With the left arm, take the handheld green bottle up, steer past the shampoo bottle, green with black cap, and place the handheld green bottle upright.",
+    "Using the left arm, pick the medium green bottle with capped neck up, keep clear of the rectangular dark green shampoo bottle, place the medium green bottle with capped neck upright.",
+    "Move the bottle with white printed label from its spot, skirt the plastic shampoo container, and stand the bottle with white printed label upright.",
+    "Using the left arm, grasp the bottle with ridges near base, move it past the plastic shampoo container, then stand the bottle with ridges near base up.",
+    "Lift the medium green bottle, keep its path away from the rectangular green plastic shampoo dispenser, and set the medium green bottle upright.",
+    "Lift the medium-sized green bottle, guide it around the dark green bottle with pump, then stand the medium-sized green bottle upright.",
+    "Grab the bottle with white printed label, avoid the plastic shampoo container while moving, then place the bottle with white printed label upright.",
+    "Pick up the bottle with rounded neck, swing wide around the shampoo bottle with smooth surface, and set the bottle with rounded neck upright.",
+    "Lift the medium green bottle, route it around the shampoo bottle, green with black cap, then set the medium green bottle upright.",
+    "Using the left arm, lift the bottle with white printed label, keep clear of the medium size shampoo bottle, and place the bottle with white printed label upright.",
+    "With the left arm, pick the plastic bottle up, avoid the rectangular dark green shampoo bottle, and put the plastic bottle upright.",
+    "Use the left arm to grab the bottle with narrow top, carry it away from the hand-sized shampoo bottle, set the bottle with narrow top upright.",
+    "Use the left arm to pick the medium-sized green bottle up, avoid the dark green bottle with pump, and place the medium-sized green bottle upright.",
+    "Lift the handheld green bottle, keep its path clear of the hand-sized shampoo bottle, then set the handheld green bottle upright.",
+    "Take the bottle with narrow top, keep clear of the green shampoo bottle, and place the bottle with narrow top upright.",
+    "Grab the bottle with ridges near base, move it without crossing the shampoo bottle with matte black pump, then place the bottle with ridges near base upright.",
+    "Take the medium-sized green bottle, move it without nearing the dark green bottle with pump, and stand the medium-sized green bottle upright.",
+    "Using the left arm, lift the smooth green bottle, pass clear of the dark green bottle with pump, then place the smooth green bottle upright.",
+    "Grab the smooth green plastic bottle, steer it around the shampoo bottle with smooth surface, and place the smooth green plastic bottle upright.",
+    "Lift the plastic bottle, route its path away from the shampoo bottle with smooth surface, then set the plastic bottle upright.",
+    "Take the handheld green bottle up, skirt the plastic shampoo container, and put the handheld green bottle down upright.",
+    "Pick up the medium-sized green bottle with the left arm, keep it away from the rectangular dark green shampoo bottle, place the medium-sized green bottle upright.",
+    "Pick up the bottle with white printed label, route it around the shampoo bottle with matte black pump, then stand the bottle with white printed label upright.",
+    "With the left arm, lift the bottle with ridges near base, keep it away from the rectangular green plastic shampoo dispenser, place the bottle with ridges near base upright.",
+    "Take the green bottle with indented base, route it away from the green shampoo bottle, and place the green bottle with indented base upright.",
+    "Use the left arm, raise the bottle with ridges near base, keep distance from the shampoo bottle, green with black cap, then place the bottle with ridges near base upright.",
+    "With the left arm, take the handheld green bottle, avoid the plastic shampoo container while moving, and set the handheld green bottle upright.",
+    "Grab the handheld green bottle, keep it away from the shampoo bottle with smooth surface, and put the handheld green bottle down upright.",
+    "Guide the left arm to take the bottle with white printed label, bypass the dark green bottle with pump, and place the bottle with white printed label upright.",
+    "Use the left arm to lift the bottle with narrow top, avoid the green shampoo bottle en route, and stand the bottle with narrow top up.",
+    "With the left arm, take the bottle with rounded neck, pass outside the medium size shampoo bottle, and put the bottle with rounded neck upright.",
+    "Grab the bottle with white printed label, carry it around the plastic shampoo container, then stand the bottle with white printed label upright.",
+    "With the left arm, secure the smooth green bottle, pass around the shampoo bottle with black pump, and set the smooth green bottle upright.",
+    "Move the medium green bottle with capped neck away from the shampoo bottle with black pump as you lift, then place the medium green bottle with capped neck upright.",
+    "With the left arm, pick up the medium-sized green bottle, steer away from the medium size shampoo bottle, and stand the medium-sized green bottle up.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the shampoo bottle, green with black cap, place the smooth green plastic bottle upright.",
+    "Grip the green bottle with indented base with the left arm, keep distance from the medium size shampoo bottle, then set the green bottle with indented base upright.",
+    "Grab the smooth green plastic bottle, keep it from the shampoo bottle with smooth surface, and set the smooth green plastic bottle upright.",
+    "Have the left arm grasp the bottle with ridges near base, avoid the rectangular dark green shampoo bottle while moving, and set the bottle with ridges near base upright.",
+    "Direct the left arm to pick the plastic bottle up, avoid the shampoo bottle, green with black cap, and stand the plastic bottle upright.",
+    "With the left arm, take the medium-sized green bottle up, steer past the shampoo bottle with smooth surface, and place the medium-sized green bottle upright.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the rectangular dark green shampoo bottle, place the bottle with white printed label upright.",
+    "Move the plastic bottle from its spot, skirt the shampoo bottle with smooth surface, and stand the plastic bottle upright.",
+    "Using the left arm, grasp the medium-sized green bottle, move it past the shampoo bottle, green with black cap, then stand the medium-sized green bottle up.",
+    "Lift the medium green bottle with capped neck, keep its path away from the dark green bottle with pump, and set the medium green bottle with capped neck upright.",
+    "Lift the bottle with white printed label, guide it around the rectangular green plastic shampoo dispenser, then stand the bottle with white printed label upright.",
+    "Grab the medium-sized green bottle, avoid the rectangular green plastic shampoo dispenser while moving, then place the medium-sized green bottle upright.",
+    "Pick up the handheld green bottle, swing wide around the dark green bottle with pump, and set the handheld green bottle upright.",
+    "Lift the bottle with narrow top, route it around the rectangular dark green shampoo bottle, then set the bottle with narrow top upright.",
+    "Using the left arm, lift the medium-sized green bottle, keep clear of the rectangular green plastic shampoo dispenser, and place the medium-sized green bottle upright.",
+    "With the left arm, pick the bottle with rounded neck up, avoid the medium size shampoo bottle, and put the bottle with rounded neck upright.",
+    "Use the left arm to grab the bottle with narrow top, carry it away from the green shampoo bottle, set the bottle with narrow top upright.",
+    "Use the left arm to pick the bottle with white printed label up, avoid the shampoo container with dispensing pump, and place the bottle with white printed label upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the shampoo bottle with black pump, then set the medium green bottle with capped neck upright.",
+    "Take the bottle with white printed label, keep clear of the shampoo bottle with matte black pump, and place the bottle with white printed label upright.",
+    "Grab the green bottle with indented base, move it without crossing the rectangular green plastic shampoo dispenser, then place the green bottle with indented base upright.",
+    "Take the bottle with ridges near base, move it without nearing the rectangular green plastic shampoo dispenser, and stand the bottle with ridges near base upright.",
+    "Using the left arm, lift the bottle with narrow top, pass clear of the plastic shampoo container, then place the bottle with narrow top upright.",
+    "Grab the medium green bottle, steer it around the medium size shampoo bottle, and place the medium green bottle upright.",
+    "Lift the green bottle with indented base, route its path away from the dark green bottle with pump, then set the green bottle with indented base upright.",
+    "Take the handheld green bottle up, skirt the dark green bottle with pump, and put the handheld green bottle down upright.",
+    "Pick up the bottle with ridges near base with the left arm, keep it away from the dark green bottle with pump, place the bottle with ridges near base upright.",
+    "Pick up the bottle with white printed label, route it around the rectangular dark green shampoo bottle, then stand the bottle with white printed label upright.",
+    "With the left arm, lift the plastic bottle, keep it away from the dark green bottle with pump, place the plastic bottle upright.",
+    "Take the smooth green plastic bottle, route it away from the rectangular green plastic shampoo dispenser, and place the smooth green plastic bottle upright.",
+    "Use the left arm, raise the plastic bottle, keep distance from the shampoo bottle with black pump, then place the plastic bottle upright.",
+    "With the left arm, take the bottle with narrow top, avoid the shampoo bottle with matte black pump while moving, and set the bottle with narrow top upright.",
+    "Grab the green bottle with indented base, keep it away from the shampoo container with dispensing pump, and put the green bottle with indented base down upright.",
+    "Guide the left arm to take the smooth green bottle, bypass the rectangular dark green shampoo bottle, and place the smooth green bottle upright.",
+    "Use the left arm to lift the bottle with white printed label, avoid the shampoo bottle with matte black pump en route, and stand the bottle with white printed label up.",
+    "With the left arm, take the bottle with narrow top, pass outside the shampoo bottle with matte black pump, and put the bottle with narrow top upright.",
+    "Grab the smooth green bottle, carry it around the hand-sized shampoo bottle, then stand the smooth green bottle upright.",
+    "With the left arm, secure the medium green bottle, pass around the rectangular green plastic shampoo dispenser, and set the medium green bottle upright.",
+    "Move the medium green bottle with capped neck away from the shampoo bottle with black pump as you lift, then place the medium green bottle with capped neck upright.",
+    "With the left arm, pick up the bottle with narrow top, steer away from the rectangular dark green shampoo bottle, and stand the bottle with narrow top up.",
+    "Pick the bottle with rounded neck up, keep its path clear of the green shampoo bottle, place the bottle with rounded neck upright.",
+    "Grip the bottle with white printed label with the left arm, keep distance from the medium size shampoo bottle, then set the bottle with white printed label upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the green bottle with white label, carry it clear of the green bottle with pump top, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the green bottle with pump top, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the green bottle with pump top, then set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the dark green pump shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the green bottle with pump top, and place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the green bottle, steer it clear of the dark green pump shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the dark green pump shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the dark green pump shampoo bottle, then set the green bottle upright.",
+    "Grab the green bottle, move it clear of the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the green bottle with pump top, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle for personal use, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the dark green pump shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the green bottle with pump top, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle for personal use, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle for personal use, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the dark green pump shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle for personal use, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the green bottle with pump top, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the dark green pump shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle for personal use, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle for personal use, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the green bottle with pump top, then set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the dark green pump shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle for personal use, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle for personal use, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle for personal use, then set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle for personal use, and place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle for personal use, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the dark green pump shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle for personal use, then set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the green bottle with pump top, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the dark green pump shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the green bottle with pump top, then set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the dark green pump shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the dark green pump shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the dark green pump shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the dark green pump shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the green bottle with pump top, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the green bottle with pump top, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle for personal use, then set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the dark green pump shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle for personal use, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the dark green pump shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the green bottle with pump top, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle for personal use, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the dark green pump shampoo bottle, then set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the green bottle with pump top, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle for personal use, and place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the dark green pump shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the dark green pump shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle for personal use, then set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the green bottle with pump top, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle for personal use, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle for personal use, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the green bottle with pump top, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle for personal use, then set the green bottle upright.",
+    "Grab the green bottle, move it clear of the green bottle with pump top, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the green bottle with pump top, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the dark green pump shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the dark green pump shampoo bottle, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle for personal use, then place the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode43.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac2fb2e6b5aca30cf5af47f65bfee6316c5ca3e0
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, take the long thin bottle up, steer past the smooth bottle with green top, and place the long thin bottle upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the shampoo bottle with handle slot, place the brown bottle with red label upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the medium shampoo bottle with pump, and put the smooth bottle with red lid upright.",
+    "Take the narrow-necked bottle, route it away from the shampoo bottle with handle slot, and place the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the shampoo bottle with handle slot, then place the dark drink bottle with logo upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the shampoo bottle with handle slot, and set the smooth bottle with red lid upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the smooth bottle with green top, and place the medium dark brown bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the hand-sized yellow shampoo bottle, then place the hand-sized soda bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the yellow shampoo bottle, place the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, steer it around the medium shampoo bottle with pump, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the yellow bottle with green top, and put the plastic drink bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the yellow container with green pump, then set the dark drink bottle with logo upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the yellow shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Pick up the brown bottle with red label, route it around the smooth bottle with green top, then stand the brown bottle with red label upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the bottle with cartoon label, and stand the bottle with white neck and red top upright.",
+    "Take the medium dark brown bottle, keep clear of the smooth bottle with green top, and place the medium dark brown bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the smooth bottle with green top, and put the hand-sized soda bottle down upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the yellow container with green pump while moving, and set the medium dark brown bottle upright.",
+    "Use the left arm to lift the plastic drink bottle, avoid the yellow shampoo with cartoon design en route, and stand the plastic drink bottle up.",
+    "Move the medium dark brown bottle away from the shampoo bottle with handle slot as you lift, then place the medium dark brown bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the shampoo with green dispensing pump, place the narrow-necked bottle upright.",
+    "Grab the hand-sized soda bottle, carry it around the shampoo bottle with rounded body, then stand the hand-sized soda bottle upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the yellow shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the shampoo bottle with handle slot, then place the bottle with white neck and red top upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the shampoo bottle with rounded body, and place the Coca-Cola bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the yellow shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "With the left arm, pick up the bottle with ridges on bottom, steer away from the smooth bottle with green top, and stand the bottle with ridges on bottom up.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the hand-sized yellow shampoo bottle, then stand the bottle with ridges on bottom up.",
+    "Lift the smooth bottle with red lid, route its path away from the yellow container with green pump, then set the smooth bottle with red lid upright.",
+    "Lift the narrow-necked bottle, guide it around the yellow shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the hand-sized yellow shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the bottle with cartoon label, set the Coca-Cola bottle upright.",
+    "Grab the long thin bottle, avoid the yellow container with green pump while moving, then place the long thin bottle upright.",
+    "Grab the brown bottle with red label, keep it away from the bottle with cartoon label, and put the brown bottle with red label down upright.",
+    "Lift the brown bottle with red label, route it around the medium shampoo bottle with pump, then set the brown bottle with red label upright.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the hand-sized yellow shampoo bottle, place the medium dark brown bottle upright.",
+    "Pick up the long thin bottle, swing wide around the yellow shampoo bottle, and set the long thin bottle upright.",
+    "Take the long thin bottle, move it without nearing the shampoo with green dispensing pump, and stand the long thin bottle upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the smooth bottle with green top while moving, and set the medium dark brown bottle upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the bottle with cartoon label, and place the medium dark brown bottle upright.",
+    "With the left arm, take the red-capped bottle up, steer past the yellow container with green pump, and place the red-capped bottle upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the medium shampoo bottle with pump, place the medium dark brown bottle upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the yellow shampoo bottle, and put the medium dark brown bottle upright.",
+    "Take the plastic drink bottle, route it away from the shampoo with green dispensing pump, and place the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the medium shampoo bottle with pump, then place the dark drink bottle with logo upright.",
+    "With the left arm, secure the long thin bottle, pass around the smooth bottle with green top, and set the long thin bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the yellow shampoo with cartoon design, and place the bottle with white neck and red top upright.",
+    "Using the left arm, lift the plastic drink bottle, pass clear of the yellow shampoo bottle, then place the plastic drink bottle upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the yellow shampoo with cartoon design, place the dark drink bottle with logo upright.",
+    "Grab the bottle with white neck and red top, steer it around the yellow bottle with green top, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the shampoo bottle with rounded body, and put the dark drink bottle with logo upright.",
+    "Lift the plastic drink bottle, keep its path clear of the bottle with cartoon label, then set the plastic drink bottle upright.",
+    "Lift the brown bottle with red label, keep its path away from the plastic shampoo bottle with label, and set the brown bottle with red label upright.",
+    "Pick up the bottle with white neck and red top, route it around the yellow shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the smooth bottle with red lid up, avoid the hand-sized yellow shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Take the red-capped bottle, keep clear of the medium shampoo bottle with pump, and place the red-capped bottle upright.",
+    "Take the narrow-necked bottle up, skirt the yellow shampoo bottle, and put the narrow-necked bottle down upright.",
+    "With the left arm, take the plastic drink bottle, avoid the plastic shampoo bottle with label while moving, and set the plastic drink bottle upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the medium shampoo bottle with pump en route, and stand the dark drink bottle with logo up.",
+    "Move the medium dark brown bottle away from the medium shampoo bottle with pump as you lift, then place the medium dark brown bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the shampoo with green dispensing pump, place the narrow-necked bottle upright.",
+    "Grab the bottle with ridges on bottom, carry it around the plastic shampoo bottle with label, then stand the bottle with ridges on bottom upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the shampoo with green dispensing pump, then set the hand-sized soda bottle upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the shampoo bottle with handle slot, then place the bottle with ridges on bottom upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the smooth bottle with green top, and place the bottle with white neck and red top upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the bottle with cartoon label, and stand the smooth bottle with red lid upright.",
+    "With the left arm, pick up the plastic drink bottle, steer away from the hand-sized yellow shampoo bottle, and stand the plastic drink bottle up.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the medium shampoo bottle with pump, then stand the bottle with ridges on bottom up.",
+    "Lift the dark drink bottle with logo, route its path away from the shampoo with green dispensing pump, then set the dark drink bottle with logo upright.",
+    "Lift the narrow-necked bottle, guide it around the yellow shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the yellow shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the hand-sized yellow shampoo bottle, set the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, avoid the shampoo bottle with rounded body while moving, then place the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle with rounded body, and put the narrow-necked bottle down upright.",
+    "Lift the narrow-necked bottle, route it around the shampoo with green dispensing pump, then set the narrow-necked bottle upright.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the medium shampoo bottle with pump, place the bottle with white neck and red top upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the hand-sized yellow shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Take the dark drink bottle with logo, move it without nearing the hand-sized yellow shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the smooth bottle with green top while moving, and set the smooth bottle with red lid upright.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the medium shampoo bottle with pump, and place the brown bottle with red label upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the yellow bottle with green top, and place the medium dark brown bottle upright.",
+    "Pick up the plastic drink bottle with the left arm, keep it away from the yellow container with green pump, place the plastic drink bottle upright.",
+    "With the left arm, pick the bottle with ridges on bottom up, avoid the yellow shampoo with cartoon design, and put the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle, route it away from the plastic shampoo bottle with label, and place the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the yellow container with green pump, then place the bottle with white neck and red top upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the yellow container with green pump, and set the smooth bottle with red lid upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the hand-sized yellow shampoo bottle, and place the narrow-necked bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the yellow shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the yellow shampoo bottle, place the brown bottle with red label upright.",
+    "Grab the medium dark brown bottle, steer it around the bottle with cartoon label, and place the medium dark brown bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the hand-sized yellow shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the medium shampoo bottle with pump, then set the hand-sized soda bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the smooth bottle with green top, and set the hand-sized soda bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the yellow shampoo with cartoon design, then stand the dark drink bottle with logo upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the yellow shampoo with cartoon design, and stand the hand-sized soda bottle upright.",
+    "Take the brown bottle with red label, keep clear of the medium shampoo bottle with pump, and place the brown bottle with red label upright.",
+    "Take the medium dark brown bottle up, skirt the yellow container with green pump, and put the medium dark brown bottle down upright.",
+    "With the left arm, take the plastic drink bottle, avoid the shampoo with green dispensing pump while moving, and set the plastic drink bottle upright.",
+    "Use the left arm to lift the long thin bottle, avoid the bottle with cartoon label en route, and stand the long thin bottle up.",
+    "Move the plastic drink bottle away from the smooth bottle with green top as you lift, then place the plastic drink bottle upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode44.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b17a044b6dde618b0e9d2739fae2cbe8912d5c6
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the brown bottle with red label, route it away from the yellow container with green pump, and place the brown bottle with red label upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the yellow container with green pump, and place the red-capped bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the yellow container with green pump, then set the long thin bottle upright.",
+    "Use the left arm to lift the brown bottle with red label, avoid the medium shampoo bottle with pump en route, and stand the brown bottle with red label up.",
+    "With the left arm, take the brown bottle with red label up, steer past the smooth bottle with green top, and place the brown bottle with red label upright.",
+    "Take the Coca-Cola bottle, keep clear of the medium shampoo bottle with pump, and place the Coca-Cola bottle upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the plastic shampoo bottle with label, and stand the smooth bottle with red lid upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the shampoo bottle with rounded body while moving, and set the smooth bottle with red lid upright.",
+    "Pick up the smooth bottle with red lid, route it around the yellow shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle up, skirt the bottle with cartoon label, and put the medium dark brown bottle down upright.",
+    "Pick the long thin bottle up, keep its path clear of the yellow shampoo bottle, place the long thin bottle upright.",
+    "Grab the plastic drink bottle, keep it from the smooth bottle with green top, and set the plastic drink bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the smooth bottle with green top, then set the hand-sized soda bottle upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the bottle with cartoon label, set the Coca-Cola bottle upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the plastic shampoo bottle with label, place the smooth bottle with red lid upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the shampoo bottle with handle slot, and set the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, route it around the smooth bottle with green top, then set the red-capped bottle upright.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the bottle with cartoon label, and stand the smooth bottle with red lid up.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the yellow shampoo bottle, place the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, carry it around the yellow bottle with green top, then stand the plastic drink bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the hand-sized yellow shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Have the left arm grasp the bottle with ridges on bottom, avoid the plastic shampoo bottle with label while moving, and set the bottle with ridges on bottom upright.",
+    "Grab the medium dark brown bottle, move it without crossing the yellow shampoo bottle, then place the medium dark brown bottle upright.",
+    "Using the left arm, lift the long thin bottle, pass clear of the medium shampoo bottle with pump, then place the long thin bottle upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the smooth bottle with green top, and set the Coca-Cola bottle upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the yellow bottle with green top, and set the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, keep it away from the hand-sized yellow shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Move the dark drink bottle with logo away from the shampoo with green dispensing pump as you lift, then place the dark drink bottle with logo upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the medium shampoo bottle with pump, then stand the medium dark brown bottle up.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the shampoo bottle with rounded body, and place the medium dark brown bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the bottle with cartoon label, and stand the plastic drink bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the smooth bottle with green top, and put the smooth bottle with red lid upright.",
+    "Grab the hand-sized soda bottle, avoid the medium shampoo bottle with pump while moving, then place the hand-sized soda bottle upright.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the yellow shampoo with cartoon design, place the red-capped bottle upright.",
+    "Lift the narrow-necked bottle, guide it around the yellow shampoo with cartoon design, then stand the narrow-necked bottle upright.",
+    "Lift the plastic drink bottle, route its path away from the hand-sized yellow shampoo bottle, then set the plastic drink bottle upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the plastic shampoo bottle with label, and place the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, steer it around the yellow shampoo with cartoon design, and place the Coca-Cola bottle upright.",
+    "Take the red-capped bottle, move it without nearing the hand-sized yellow shampoo bottle, and stand the red-capped bottle upright.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the smooth bottle with green top, and put the hand-sized soda bottle upright.",
+    "Take the plastic drink bottle, route it away from the smooth bottle with green top, and place the plastic drink bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the yellow container with green pump, and place the hand-sized soda bottle upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the plastic shampoo bottle with label, then set the plastic drink bottle upright.",
+    "Use the left arm to lift the brown bottle with red label, avoid the yellow shampoo with cartoon design en route, and stand the brown bottle with red label up.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the plastic shampoo bottle with label, and place the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, keep clear of the yellow container with green pump, and place the smooth bottle with red lid upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the bottle with cartoon label, and stand the hand-sized soda bottle upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo with green dispensing pump while moving, and set the narrow-necked bottle upright.",
+    "Pick up the plastic drink bottle, route it around the yellow container with green pump, then stand the plastic drink bottle upright.",
+    "Take the Coca-Cola bottle up, skirt the shampoo with green dispensing pump, and put the Coca-Cola bottle down upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the plastic shampoo bottle with label, place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, keep it from the shampoo bottle with handle slot, and set the brown bottle with red label upright.",
+    "Lift the brown bottle with red label, keep its path clear of the bottle with cartoon label, then set the brown bottle with red label upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the smooth bottle with green top, set the bottle with white neck and red top upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the plastic shampoo bottle with label, place the bottle with white neck and red top upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the hand-sized yellow shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Lift the medium dark brown bottle, route it around the bottle with cartoon label, then set the medium dark brown bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the yellow shampoo bottle, and stand the dark drink bottle with logo up.",
+    "With the left arm, lift the red-capped bottle, keep it away from the shampoo bottle with rounded body, place the red-capped bottle upright.",
+    "Grab the hand-sized soda bottle, carry it around the bottle with cartoon label, then stand the hand-sized soda bottle upright.",
+    "Use the left arm, raise the red-capped bottle, keep distance from the shampoo with green dispensing pump, then place the red-capped bottle upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the hand-sized yellow shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the shampoo with green dispensing pump, then place the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the shampoo bottle with rounded body, then place the dark drink bottle with logo upright.",
+    "Pick up the medium dark brown bottle, swing wide around the yellow bottle with green top, and set the medium dark brown bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the hand-sized yellow shampoo bottle, and set the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle with rounded body, and put the narrow-necked bottle down upright.",
+    "Move the brown bottle with red label away from the smooth bottle with green top as you lift, then place the brown bottle with red label upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the yellow shampoo with cartoon design, then stand the brown bottle with red label up.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the shampoo bottle with rounded body, and place the narrow-necked bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the medium shampoo bottle with pump, and stand the bottle with ridges on bottom upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the smooth bottle with green top, and put the Coca-Cola bottle upright.",
+    "Grab the narrow-necked bottle, avoid the yellow shampoo with cartoon design while moving, then place the narrow-necked bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the smooth bottle with green top, place the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, guide it around the shampoo bottle with rounded body, then stand the medium dark brown bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the yellow shampoo with cartoon design, then set the narrow-necked bottle upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the hand-sized yellow shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the long thin bottle, steer it around the smooth bottle with green top, and place the long thin bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the bottle with cartoon label, and stand the smooth bottle with red lid upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the shampoo bottle with handle slot, and put the red-capped bottle upright.",
+    "Take the smooth bottle with red lid, route it away from the yellow shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the hand-sized yellow shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the smooth bottle with green top, then set the smooth bottle with red lid upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the yellow bottle with green top en route, and stand the smooth bottle with red lid up.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the bottle with cartoon label, and place the bottle with white neck and red top upright.",
+    "Take the narrow-necked bottle, keep clear of the plastic shampoo bottle with label, and place the narrow-necked bottle upright.",
+    "Move the medium dark brown bottle from its spot, skirt the medium shampoo bottle with pump, and stand the medium dark brown bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the shampoo bottle with rounded body while moving, and set the bottle with ridges on bottom upright.",
+    "Pick up the Coca-Cola bottle, route it around the yellow shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the shampoo with green dispensing pump, and put the bottle with ridges on bottom down upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the shampoo with green dispensing pump, place the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, keep it from the medium shampoo bottle with pump, and set the hand-sized soda bottle upright.",
+    "Lift the brown bottle with red label, keep its path clear of the yellow bottle with green top, then set the brown bottle with red label upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the yellow container with green pump, set the plastic drink bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the smooth bottle with green top, place the red-capped bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle with handle slot, and set the narrow-necked bottle upright.",
+    "Lift the long thin bottle, route it around the shampoo with green dispensing pump, then set the long thin bottle upright.",
+    "With the left arm, pick up the plastic drink bottle, steer away from the shampoo bottle with handle slot, and stand the plastic drink bottle up.",
+    "With the left arm, lift the long thin bottle, keep it away from the shampoo bottle with rounded body, place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the yellow shampoo with cartoon design, then stand the bottle with white neck and red top upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode45.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..e12bc7e45550436c9228b51b43ce5c1a9edc907b
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium dark brown bottle, keep its path away from the white shampoo bottle, and set the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the white shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the curved shampoo bottle en route, and stand the red-capped bottle up.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the plastic shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "With the right arm, take the red-capped bottle up, steer past the handheld shampoo container, and place the red-capped bottle upright.",
+    "With the right arm, pick up the hand-sized soda bottle, steer away from the bottle with hexagonal blue cap, and stand the hand-sized soda bottle up.",
+    "Move the smooth bottle with red lid away from the handheld shampoo container as you lift, then place the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle, move it without nearing the blue top shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, steer it around the bottle with smooth surface, and place the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the smooth bottle with red lid up, avoid the medium-sized white plastic shampoo, and stand the smooth bottle with red lid upright.",
+    "Using the right arm, lift the plastic drink bottle, pass clear of the medium-sized white plastic shampoo, then place the plastic drink bottle upright.",
+    "With the right arm, secure the smooth bottle with red lid, pass around the white shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the plastic shampoo with orange label, then set the smooth bottle with red lid upright.",
+    "Using the right arm, pick the brown bottle with red label up, keep clear of the handheld shampoo container, place the brown bottle with red label upright.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the plastic shampoo bottle, and put the medium dark brown bottle upright.",
+    "Grab the long thin bottle, avoid the plastic shampoo with orange label while moving, then place the long thin bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the curved shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the shampoo bottle with curved sides, and place the red-capped bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the plastic shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the white and blue shampoo container, and set the narrow-necked bottle upright.",
+    "Use the right arm to pick the plastic drink bottle up, avoid the curved shampoo bottle, and place the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the white and blue shampoo container, and set the smooth bottle with red lid upright.",
+    "Lift the bottle with white neck and red top, guide it around the blue top shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Take the red-capped bottle up, skirt the white shampoo bottle, and put the red-capped bottle down upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the bottle with smooth surface, place the hand-sized soda bottle upright.",
+    "With the right arm, lift the red-capped bottle, keep it away from the bottle with hexagonal blue cap, place the red-capped bottle upright.",
+    "Using the right arm, grasp the dark drink bottle with logo, move it past the shampoo bottle with curved sides, then stand the dark drink bottle with logo up.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the bottle with hexagonal blue cap, and put the bottle with white neck and red top upright.",
+    "Lift the plastic drink bottle, route its path away from the plastic shampoo with orange label, then set the plastic drink bottle upright.",
+    "Grip the long thin bottle with the right arm, keep distance from the shampoo bottle with curved sides, then set the long thin bottle upright.",
+    "With the right arm, take the long thin bottle, avoid the shampoo bottle with blue cap while moving, and set the long thin bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the medium-sized white plastic shampoo, then place the plastic drink bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the white and blue shampoo container, and stand the bottle with white neck and red top upright.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo bottle with blue cap, then stand the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, carry it around the bottle with smooth surface, then stand the red-capped bottle upright.",
+    "Use the right arm to grab the hand-sized soda bottle, carry it away from the medium-sized white plastic shampoo, set the hand-sized soda bottle upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the bottle with hexagonal blue cap, place the hand-sized soda bottle upright.",
+    "Take the long thin bottle, keep clear of the curved shampoo bottle, and place the long thin bottle upright.",
+    "Guide the right arm to take the hand-sized soda bottle, bypass the shampoo bottle with blue cap, and place the hand-sized soda bottle upright.",
+    "Use the right arm, raise the hand-sized soda bottle, keep distance from the curved shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the shampoo bottle with blue cap, and set the smooth bottle with red lid upright.",
+    "Grab the red-capped bottle, keep it away from the plastic shampoo with orange label, and put the red-capped bottle down upright.",
+    "Use the right arm to lift the plastic drink bottle, avoid the shampoo bottle with curved sides en route, and stand the plastic drink bottle up.",
+    "Have the right arm grasp the bottle with white neck and red top, avoid the shampoo bottle with curved sides while moving, and set the bottle with white neck and red top upright.",
+    "With the right arm, take the dark drink bottle with logo up, steer past the shampoo bottle with blue cap, and place the dark drink bottle with logo upright.",
+    "With the right arm, pick up the brown bottle with red label, steer away from the shampoo bottle with curved sides, and stand the brown bottle with red label up.",
+    "Move the brown bottle with red label away from the blue top shampoo bottle as you lift, then place the brown bottle with red label upright.",
+    "Take the smooth bottle with red lid, move it without nearing the white and blue shampoo container, and stand the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, steer it around the white shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Direct the right arm to pick the red-capped bottle up, avoid the white shampoo bottle, and stand the red-capped bottle upright.",
+    "Using the right arm, lift the Coca-Cola bottle, pass clear of the plastic shampoo with orange label, then place the Coca-Cola bottle upright.",
+    "With the right arm, secure the dark drink bottle with logo, pass around the blue top shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the bottle with hexagonal blue cap, then set the smooth bottle with red lid upright.",
+    "Using the right arm, pick the smooth bottle with red lid up, keep clear of the plastic shampoo bottle, place the smooth bottle with red lid upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the handheld shampoo container, and put the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, avoid the shampoo bottle with curved sides while moving, then place the plastic drink bottle upright.",
+    "Take the hand-sized soda bottle, route it away from the blue top shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the medium-sized white plastic shampoo, and place the red-capped bottle upright.",
+    "Lift the plastic drink bottle, route it around the white and blue shampoo container, then set the plastic drink bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the plastic shampoo with orange label, and set the smooth bottle with red lid upright.",
+    "Use the right arm to pick the medium dark brown bottle up, avoid the handheld shampoo container, and place the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the white shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Lift the brown bottle with red label, guide it around the shampoo bottle with blue cap, then stand the brown bottle with red label upright.",
+    "Take the Coca-Cola bottle up, skirt the shampoo bottle with blue cap, and put the Coca-Cola bottle down upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the bottle with smooth surface, place the hand-sized soda bottle upright.",
+    "With the right arm, lift the hand-sized soda bottle, keep it away from the shampoo bottle with blue cap, place the hand-sized soda bottle upright.",
+    "Using the right arm, grasp the red-capped bottle, move it past the bottle with smooth surface, then stand the red-capped bottle up.",
+    "With the right arm, take the medium dark brown bottle, pass outside the bottle with hexagonal blue cap, and put the medium dark brown bottle upright.",
+    "Lift the plastic drink bottle, route its path away from the white and blue shampoo container, then set the plastic drink bottle upright.",
+    "Grip the medium dark brown bottle with the right arm, keep distance from the shampoo bottle with blue cap, then set the medium dark brown bottle upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the handheld shampoo container while moving, and set the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the handheld shampoo container, then place the Coca-Cola bottle upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the shampoo bottle with curved sides, and stand the smooth bottle with red lid upright.",
+    "Pick up the bottle with white neck and red top, route it around the bottle with hexagonal blue cap, then stand the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, carry it around the plastic shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Use the right arm to grab the Coca-Cola bottle, carry it away from the white shampoo bottle, set the Coca-Cola bottle upright.",
+    "Pick the bottle with ridges on bottom up, keep its path clear of the shampoo bottle with curved sides, place the bottle with ridges on bottom upright.",
+    "Take the long thin bottle, keep clear of the shampoo bottle with curved sides, and place the long thin bottle upright.",
+    "Guide the right arm to take the bottle with ridges on bottom, bypass the bottle with hexagonal blue cap, and place the bottle with ridges on bottom upright.",
+    "Use the right arm, raise the bottle with white neck and red top, keep distance from the medium-sized white plastic shampoo, then place the bottle with white neck and red top upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the curved shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Grab the brown bottle with red label, keep it away from the bottle with smooth surface, and put the brown bottle with red label down upright.",
+    "Use the right arm to lift the Coca-Cola bottle, avoid the plastic shampoo with orange label en route, and stand the Coca-Cola bottle up.",
+    "Have the right arm grasp the hand-sized soda bottle, avoid the shampoo bottle with blue cap while moving, and set the hand-sized soda bottle upright.",
+    "With the right arm, take the narrow-necked bottle up, steer past the plastic shampoo with orange label, and place the narrow-necked bottle upright.",
+    "With the right arm, pick up the smooth bottle with red lid, steer away from the plastic shampoo with orange label, and stand the smooth bottle with red lid up.",
+    "Move the brown bottle with red label away from the white shampoo bottle as you lift, then place the brown bottle with red label upright.",
+    "Take the dark drink bottle with logo, move it without nearing the shampoo bottle with curved sides, and stand the dark drink bottle with logo upright.",
+    "Grab the narrow-necked bottle, steer it around the bottle with smooth surface, and place the narrow-necked bottle upright.",
+    "Direct the right arm to pick the medium dark brown bottle up, avoid the shampoo bottle with curved sides, and stand the medium dark brown bottle upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, pass clear of the handheld shampoo container, then place the bottle with ridges on bottom upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the shampoo bottle with curved sides, and set the bottle with white neck and red top upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the blue top shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Using the right arm, pick the plastic drink bottle up, keep clear of the shampoo bottle with blue cap, place the plastic drink bottle upright.",
+    "With the right arm, pick the long thin bottle up, avoid the shampoo bottle with curved sides, and put the long thin bottle upright.",
+    "Grab the red-capped bottle, avoid the white shampoo bottle while moving, then place the red-capped bottle upright.",
+    "Take the bottle with ridges on bottom, route it away from the white and blue shampoo container, and place the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the bottle with hexagonal blue cap, and place the red-capped bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the bottle with hexagonal blue cap, then set the smooth bottle with red lid upright.",
+    "Pick up the plastic drink bottle, swing wide around the shampoo bottle with curved sides, and set the plastic drink bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the white shampoo with orange design, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the white shampoo with orange design, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode46.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3105588db8695e5da2ce645a7fbdc2a0056a298
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm, raise the plastic drink bottle, keep distance from the blue top shampoo bottle, then place the plastic drink bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the plastic shampoo bottle, and set the medium dark brown bottle upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the shampoo bottle with curved sides, and place the long thin bottle upright.",
+    "Take the long thin bottle, move it without nearing the plastic shampoo with orange label, and stand the long thin bottle upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the bottle with smooth surface, then stand the dark drink bottle with logo up.",
+    "Grip the dark drink bottle with logo with the left arm, keep distance from the blue top shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the plastic shampoo with orange label, and place the red-capped bottle upright.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the curved shampoo bottle while moving, and set the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, carry it around the white shampoo bottle, then stand the medium dark brown bottle upright.",
+    "With the left arm, take the long thin bottle, pass outside the plastic shampoo bottle, and put the long thin bottle upright.",
+    "Grab the Coca-Cola bottle, keep it away from the curved shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the shampoo bottle with blue cap, place the dark drink bottle with logo upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the bottle with smooth surface, and place the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the white shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Take the brown bottle with red label up, skirt the shampoo bottle with curved sides, and put the brown bottle with red label down upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the plastic shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Move the medium dark brown bottle from its spot, skirt the white and blue shampoo container, and stand the medium dark brown bottle upright.",
+    "Move the brown bottle with red label away from the bottle with hexagonal blue cap as you lift, then place the brown bottle with red label upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the blue top shampoo bottle, place the red-capped bottle upright.",
+    "Lift the long thin bottle, keep its path clear of the curved shampoo bottle, then set the long thin bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the shampoo bottle with curved sides, and place the dark drink bottle with logo upright.",
+    "Grab the bottle with ridges on bottom, avoid the curved shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "Lift the hand-sized soda bottle, route its path away from the handheld shampoo container, then set the hand-sized soda bottle upright.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the handheld shampoo container, and stand the Coca-Cola bottle up.",
+    "Grab the brown bottle with red label, keep it from the white and blue shampoo container, and set the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, steer it around the white and blue shampoo container, and place the brown bottle with red label upright.",
+    "Take the hand-sized soda bottle, route it away from the plastic shampoo with orange label, and place the hand-sized soda bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the bottle with smooth surface, and put the dark drink bottle with logo upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the white and blue shampoo container, place the hand-sized soda bottle upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the white and blue shampoo container, and stand the Coca-Cola bottle upright.",
+    "Lift the long thin bottle, route it around the white shampoo bottle, then set the long thin bottle upright.",
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the plastic shampoo with orange label, set the hand-sized soda bottle upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the plastic shampoo with orange label, and place the plastic drink bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the curved shampoo bottle, and set the plastic drink bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the plastic shampoo with orange label, then stand the dark drink bottle with logo upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the bottle with smooth surface, then place the narrow-necked bottle upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the curved shampoo bottle, place the hand-sized soda bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, avoid the medium-sized white plastic shampoo while moving, and set the Coca-Cola bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the plastic shampoo bottle en route, and stand the hand-sized soda bottle up.",
+    "Lift the hand-sized soda bottle, guide it around the plastic shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the shampoo bottle with curved sides, then place the dark drink bottle with logo upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the medium-sized white plastic shampoo, and set the plastic drink bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the plastic shampoo bottle, and place the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the bottle with hexagonal blue cap, and stand the narrow-necked bottle upright.",
+    "Using the left arm, grasp the Coca-Cola bottle, move it past the plastic shampoo with orange label, then stand the Coca-Cola bottle up.",
+    "Grip the medium dark brown bottle with the left arm, keep distance from the white shampoo bottle, then set the medium dark brown bottle upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the plastic shampoo with orange label, and place the red-capped bottle upright.",
+    "Have the left arm grasp the plastic drink bottle, avoid the shampoo bottle with curved sides while moving, and set the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, carry it around the bottle with hexagonal blue cap, then stand the narrow-necked bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the medium-sized white plastic shampoo, and put the bottle with ridges on bottom upright.",
+    "Grab the Coca-Cola bottle, keep it away from the white shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the bottle with smooth surface, place the medium dark brown bottle upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the bottle with smooth surface, and place the plastic drink bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the blue top shampoo bottle, then place the brown bottle with red label upright.",
+    "Take the Coca-Cola bottle up, skirt the blue top shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the medium-sized white plastic shampoo, and set the Coca-Cola bottle upright.",
+    "Move the narrow-necked bottle from its spot, skirt the plastic shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Move the Coca-Cola bottle away from the white and blue shampoo container as you lift, then place the Coca-Cola bottle upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the plastic shampoo bottle, place the medium dark brown bottle upright.",
+    "Lift the brown bottle with red label, keep its path clear of the handheld shampoo container, then set the brown bottle with red label upright.",
+    "Take the plastic drink bottle, keep clear of the plastic shampoo bottle, and place the plastic drink bottle upright.",
+    "Grab the red-capped bottle, avoid the medium-sized white plastic shampoo while moving, then place the red-capped bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the plastic shampoo with orange label, then set the bottle with ridges on bottom upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the white and blue shampoo container, and stand the red-capped bottle up.",
+    "Grab the medium dark brown bottle, keep it from the blue top shampoo bottle, and set the medium dark brown bottle upright.",
+    "Grab the long thin bottle, steer it around the bottle with smooth surface, and place the long thin bottle upright.",
+    "Take the long thin bottle, route it away from the blue top shampoo bottle, and place the long thin bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the plastic shampoo with orange label, and put the narrow-necked bottle upright.",
+    "Pick the bottle with ridges on bottom up, keep its path clear of the bottle with smooth surface, place the bottle with ridges on bottom upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the plastic shampoo with orange label, and stand the red-capped bottle upright.",
+    "Lift the plastic drink bottle, route it around the plastic shampoo bottle, then set the plastic drink bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the handheld shampoo container, set the bottle with white neck and red top upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the white shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Lift the plastic drink bottle, keep its path away from the plastic shampoo bottle, and set the plastic drink bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the white and blue shampoo container, then stand the medium dark brown bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the white shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the blue top shampoo bottle, place the hand-sized soda bottle upright.",
+    "With the left arm, take the red-capped bottle, avoid the bottle with hexagonal blue cap while moving, and set the red-capped bottle upright.",
+    "Use the left arm to lift the plastic drink bottle, avoid the white and blue shampoo container en route, and stand the plastic drink bottle up.",
+    "Lift the dark drink bottle with logo, guide it around the blue top shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the bottle with smooth surface, then place the long thin bottle upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the plastic shampoo with orange label, and set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the white and blue shampoo container, and place the brown bottle with red label upright.",
+    "Take the narrow-necked bottle, move it without nearing the medium-sized white plastic shampoo, and stand the narrow-necked bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the blue top shampoo bottle, then stand the smooth bottle with red lid up.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the white shampoo bottle, then set the narrow-necked bottle upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the plastic shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the plastic shampoo with orange label while moving, and set the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, carry it around the blue top shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the shampoo bottle with blue cap, and put the bottle with white neck and red top upright.",
+    "Grab the smooth bottle with red lid, keep it away from the blue top shampoo bottle, and put the smooth bottle with red lid down upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the shampoo bottle with curved sides, place the bottle with white neck and red top upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the plastic shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the shampoo bottle with curved sides, then place the plastic drink bottle upright.",
+    "Take the narrow-necked bottle up, skirt the white shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the shampoo bottle with blue cap, and set the Coca-Cola bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the white and blue shampoo container, and stand the Coca-Cola bottle upright.",
+    "Move the bottle with white neck and red top away from the handheld shampoo container as you lift, then place the bottle with white neck and red top upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the blue top shampoo bottle, place the Coca-Cola bottle upright.",
+    "Lift the brown bottle with red label, keep its path clear of the medium-sized white plastic shampoo, then set the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode47.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..e211dc60c1b0add6de5927970dd577d2edbccc2c
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bottle with white printed label, move it without nearing the hand-sized shampoo bottle, and stand the bottle with white printed label upright.",
+    "Guide the left arm to take the medium green bottle, bypass the plastic shampoo container, and place the medium green bottle upright.",
+    "With the left arm, take the medium green bottle with capped neck, pass outside the shampoo bottle with smooth surface, and put the medium green bottle with capped neck upright.",
+    "With the left arm, pick up the bottle with ridges near base, steer away from the shampoo bottle with black pump, and stand the bottle with ridges near base up.",
+    "Have the left arm grasp the medium green bottle with capped neck, avoid the rectangular green plastic shampoo dispenser while moving, and set the medium green bottle with capped neck upright.",
+    "With the left arm, take the medium-sized green bottle, avoid the shampoo bottle with black pump while moving, and set the medium-sized green bottle upright.",
+    "Lift the medium-sized green bottle, keep its path clear of the green shampoo bottle, then set the medium-sized green bottle upright.",
+    "With the left arm, secure the medium green bottle with capped neck, pass around the rectangular green plastic shampoo dispenser, and set the medium green bottle with capped neck upright.",
+    "Use the left arm to pick the plastic bottle up, avoid the shampoo bottle with smooth surface, and place the plastic bottle upright.",
+    "Move the medium green bottle with capped neck from its spot, skirt the medium size shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Lift the medium-sized green bottle, keep its path away from the plastic shampoo container, and set the medium-sized green bottle upright.",
+    "Grab the bottle with ridges near base, keep it away from the shampoo bottle with black pump, and put the bottle with ridges near base down upright.",
+    "Pick up the medium green bottle, route it around the shampoo container with dispensing pump, then stand the medium green bottle upright.",
+    "Use the left arm, raise the plastic bottle, keep distance from the green shampoo bottle, then place the plastic bottle upright.",
+    "Take the bottle with narrow top, keep clear of the plastic shampoo container, and place the bottle with narrow top upright.",
+    "Using the left arm, lift the medium-sized green bottle, pass clear of the shampoo bottle, green with black cap, then place the medium-sized green bottle upright.",
+    "Grab the handheld green bottle, avoid the shampoo bottle, green with black cap while moving, then place the handheld green bottle upright.",
+    "Use the left arm to grab the medium-sized green bottle, carry it away from the shampoo bottle, green with black cap, set the medium-sized green bottle upright.",
+    "Take the handheld green bottle, route it away from the shampoo container with dispensing pump, and place the handheld green bottle upright.",
+    "With the left arm, lift the bottle with ridges near base, keep it away from the hand-sized shampoo bottle, place the bottle with ridges near base upright.",
+    "Grab the smooth green plastic bottle, carry it around the green shampoo bottle, then stand the smooth green plastic bottle upright.",
+    "Grab the bottle with ridges near base, steer it around the dark green bottle with pump, and place the bottle with ridges near base upright.",
+    "Take the medium-sized green bottle up, skirt the shampoo container with dispensing pump, and put the medium-sized green bottle down upright.",
+    "Grab the green bottle with indented base, move it without crossing the plastic shampoo container, then place the green bottle with indented base upright.",
+    "Pick up the bottle with ridges near base with the left arm, keep it away from the shampoo bottle with black pump, place the bottle with ridges near base upright.",
+    "Using the left arm, lift the smooth green plastic bottle, keep clear of the shampoo bottle, green with black cap, and place the smooth green plastic bottle upright.",
+    "Use the left arm to lift the medium-sized green bottle, avoid the shampoo bottle with black pump en route, and stand the medium-sized green bottle up.",
+    "Grip the bottle with rounded neck with the left arm, keep distance from the shampoo bottle, green with black cap, then set the bottle with rounded neck upright.",
+    "Lift the bottle with ridges near base, route it around the medium size shampoo bottle, then set the bottle with ridges near base upright.",
+    "Pick up the handheld green bottle, swing wide around the shampoo bottle with black pump, and set the handheld green bottle upright.",
+    "Direct the left arm to pick the handheld green bottle up, avoid the hand-sized shampoo bottle, and stand the handheld green bottle upright.",
+    "With the left arm, pick the green bottle with indented base up, avoid the dark green bottle with pump, and put the green bottle with indented base upright.",
+    "Lift the plastic bottle, route its path away from the dark green bottle with pump, then set the plastic bottle upright.",
+    "Grab the medium green bottle, keep it from the shampoo bottle with smooth surface, and set the medium green bottle upright.",
+    "Using the left arm, grasp the medium green bottle with capped neck, move it past the shampoo bottle with smooth surface, then stand the medium green bottle with capped neck up.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the medium size shampoo bottle, place the bottle with white printed label upright.",
+    "Move the plastic bottle away from the shampoo bottle with black pump as you lift, then place the plastic bottle upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the rectangular dark green shampoo bottle, place the bottle with white printed label upright.",
+    "With the left arm, take the bottle with white printed label up, steer past the green shampoo bottle, and place the bottle with white printed label upright.",
+    "Lift the smooth green bottle, guide it around the shampoo bottle with black pump, then stand the smooth green bottle upright.",
+    "Take the medium green bottle with capped neck, move it without nearing the dark green bottle with pump, and stand the medium green bottle with capped neck upright.",
+    "Guide the left arm to take the smooth green plastic bottle, bypass the shampoo bottle with smooth surface, and place the smooth green plastic bottle upright.",
+    "With the left arm, take the bottle with white printed label, pass outside the shampoo container with dispensing pump, and put the bottle with white printed label upright.",
+    "With the left arm, pick up the bottle with white printed label, steer away from the rectangular green plastic shampoo dispenser, and stand the bottle with white printed label up.",
+    "Have the left arm grasp the medium green bottle with capped neck, avoid the hand-sized shampoo bottle while moving, and set the medium green bottle with capped neck upright.",
+    "With the left arm, take the green bottle with indented base, avoid the plastic shampoo container while moving, and set the green bottle with indented base upright.",
+    "Lift the smooth green bottle, keep its path clear of the green shampoo bottle, then set the smooth green bottle upright.",
+    "With the left arm, secure the medium green bottle, pass around the shampoo bottle, green with black cap, and set the medium green bottle upright.",
+    "Use the left arm to pick the plastic bottle up, avoid the medium size shampoo bottle, and place the plastic bottle upright.",
+    "Move the plastic bottle from its spot, skirt the dark green bottle with pump, and stand the plastic bottle upright.",
+    "Lift the smooth green bottle, keep its path away from the shampoo bottle with smooth surface, and set the smooth green bottle upright.",
+    "Grab the handheld green bottle, keep it away from the shampoo container with dispensing pump, and put the handheld green bottle down upright.",
+    "Pick up the medium green bottle with capped neck, route it around the shampoo bottle with smooth surface, then stand the medium green bottle with capped neck upright.",
+    "Use the left arm, raise the medium green bottle with capped neck, keep distance from the plastic shampoo container, then place the medium green bottle with capped neck upright.",
+    "Take the plastic bottle, keep clear of the green shampoo bottle, and place the plastic bottle upright.",
+    "Using the left arm, lift the medium-sized green bottle, pass clear of the green shampoo bottle, then place the medium-sized green bottle upright.",
+    "Grab the smooth green bottle, avoid the shampoo bottle with matte black pump while moving, then place the smooth green bottle upright.",
+    "Use the left arm to grab the medium green bottle with capped neck, carry it away from the green shampoo bottle, set the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top, route it away from the shampoo bottle with smooth surface, and place the bottle with narrow top upright.",
+    "With the left arm, lift the medium green bottle with capped neck, keep it away from the plastic shampoo container, place the medium green bottle with capped neck upright.",
+    "Grab the smooth green bottle, carry it around the shampoo bottle with matte black pump, then stand the smooth green bottle upright.",
+    "Grab the bottle with ridges near base, steer it around the hand-sized shampoo bottle, and place the bottle with ridges near base upright.",
+    "Take the bottle with rounded neck up, skirt the dark green bottle with pump, and put the bottle with rounded neck down upright.",
+    "Grab the plastic bottle, move it without crossing the shampoo bottle, green with black cap, then place the plastic bottle upright.",
+    "Pick up the green bottle with indented base with the left arm, keep it away from the shampoo bottle with smooth surface, place the green bottle with indented base upright.",
+    "Using the left arm, lift the smooth green bottle, keep clear of the shampoo bottle with smooth surface, and place the smooth green bottle upright.",
+    "Use the left arm to lift the bottle with narrow top, avoid the shampoo bottle, green with black cap en route, and stand the bottle with narrow top up.",
+    "Grip the smooth green plastic bottle with the left arm, keep distance from the hand-sized shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Lift the bottle with ridges near base, route it around the dark green bottle with pump, then set the bottle with ridges near base upright.",
+    "Pick up the bottle with rounded neck, swing wide around the rectangular green plastic shampoo dispenser, and set the bottle with rounded neck upright.",
+    "Direct the left arm to pick the handheld green bottle up, avoid the hand-sized shampoo bottle, and stand the handheld green bottle upright.",
+    "With the left arm, pick the medium green bottle with capped neck up, avoid the shampoo bottle with smooth surface, and put the medium green bottle with capped neck upright.",
+    "Lift the medium green bottle, route its path away from the shampoo bottle with matte black pump, then set the medium green bottle upright.",
+    "Grab the medium green bottle with capped neck, keep it from the rectangular dark green shampoo bottle, and set the medium green bottle with capped neck upright.",
+    "Using the left arm, grasp the medium-sized green bottle, move it past the dark green bottle with pump, then stand the medium-sized green bottle up.",
+    "Using the left arm, pick the green bottle with indented base up, keep clear of the shampoo bottle with matte black pump, place the green bottle with indented base upright.",
+    "Move the smooth green plastic bottle away from the shampoo bottle with black pump as you lift, then place the smooth green plastic bottle upright.",
+    "Pick the handheld green bottle up, keep its path clear of the shampoo container with dispensing pump, place the handheld green bottle upright.",
+    "With the left arm, take the smooth green plastic bottle up, steer past the rectangular dark green shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Lift the bottle with narrow top, guide it around the hand-sized shampoo bottle, then stand the bottle with narrow top upright.",
+    "Take the medium-sized green bottle, move it without nearing the dark green bottle with pump, and stand the medium-sized green bottle upright.",
+    "Guide the left arm to take the green bottle with indented base, bypass the shampoo bottle with black pump, and place the green bottle with indented base upright.",
+    "With the left arm, take the medium green bottle, pass outside the dark green bottle with pump, and put the medium green bottle upright.",
+    "With the left arm, pick up the medium green bottle with capped neck, steer away from the shampoo bottle, green with black cap, and stand the medium green bottle with capped neck up.",
+    "Have the left arm grasp the medium green bottle, avoid the shampoo bottle with smooth surface while moving, and set the medium green bottle upright.",
+    "With the left arm, take the smooth green plastic bottle, avoid the green shampoo bottle while moving, and set the smooth green plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the shampoo container with dispensing pump, then set the medium green bottle with capped neck upright.",
+    "With the left arm, secure the medium-sized green bottle, pass around the shampoo bottle, green with black cap, and set the medium-sized green bottle upright.",
+    "Use the left arm to pick the bottle with rounded neck up, avoid the shampoo bottle, green with black cap, and place the bottle with rounded neck upright.",
+    "Move the bottle with rounded neck from its spot, skirt the shampoo bottle with black pump, and stand the bottle with rounded neck upright.",
+    "Lift the plastic bottle, keep its path away from the rectangular green plastic shampoo dispenser, and set the plastic bottle upright.",
+    "Grab the bottle with narrow top, keep it away from the shampoo container with dispensing pump, and put the bottle with narrow top down upright.",
+    "Pick up the bottle with white printed label, route it around the medium size shampoo bottle, then stand the bottle with white printed label upright.",
+    "Use the left arm, raise the medium-sized green bottle, keep distance from the rectangular green plastic shampoo dispenser, then place the medium-sized green bottle upright.",
+    "Take the medium green bottle with capped neck, keep clear of the hand-sized shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "Using the left arm, lift the green bottle with indented base, pass clear of the shampoo bottle, green with black cap, then place the green bottle with indented base upright.",
+    "Grab the plastic bottle, avoid the plastic shampoo container while moving, then place the plastic bottle upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the plastic shampoo container, set the bottle with white printed label upright.",
+    "Take the medium green bottle with capped neck, route it away from the shampoo bottle with matte black pump, and place the medium green bottle with capped neck upright.",
+    "With the left arm, lift the medium green bottle with capped neck, keep it away from the shampoo bottle, green with black cap, place the medium green bottle with capped neck upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the green bottle with white label, move around the dark green pump shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the dark green pump shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the green bottle with pump top, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle for personal use, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle for personal use, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle for personal use, and place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle for personal use, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the green bottle with pump top, and set it upright.",
+    "Grab the green bottle, move it clear of the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the green bottle with pump top, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the dark green pump shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the green bottle with pump top, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the dark green pump shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the green bottle with pump top, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle for personal use, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle for personal use, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle for personal use, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle for personal use, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle for personal use, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle for personal use, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the dark green pump shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the green bottle with pump top, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the dark green pump shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the green bottle with pump top, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the green bottle with pump top, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle for personal use, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the green bottle with pump top, and place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the dark green pump shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the dark green pump shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the dark green pump shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle for personal use, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the dark green pump shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the dark green pump shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle for personal use, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the green bottle with pump top, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the green bottle with pump top, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the green bottle with pump top, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle for personal use, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle for personal use, and place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the green bottle with pump top, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the dark green pump shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the green bottle with pump top, and set it upright.",
+    "Grab the green bottle, move it clear of the green bottle with pump top, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the dark green pump shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the dark green pump shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the dark green pump shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle for personal use, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle for personal use, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the dark green pump shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the green bottle with pump top, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle for personal use, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the dark green pump shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the green bottle with pump top, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the dark green pump shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the green bottle with pump top, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle for personal use, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Grab the green bottle, move it clear of the dark green pump shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the green bottle with pump top, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle for personal use, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the dark green pump shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle for personal use, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the green bottle with pump top, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle for personal use, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the green bottle with pump top, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle for personal use, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the green bottle with pump top, and place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle for personal use, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the green bottle with pump top, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle for personal use, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the green bottle with pump top, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the dark green pump shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the dark green pump shampoo bottle, and place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the green bottle with pump top, and set the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode48.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4bb2f40f93df29a0bba4e0e281b1ea1d2080e6
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the bottle with narrow top, avoid the shampoo bottle with rectangular base en route, and stand the bottle with narrow top up.",
+    "With the right arm, pick up the green bottle with indented base, steer away from the plastic shampoo bottle with smooth surface, and stand the green bottle with indented base up.",
+    "With the right arm, take the bottle with narrow top up, steer past the medium shampoo container, and place the bottle with narrow top upright.",
+    "Move the plastic bottle away from the bottle for shampoo with glossy finish as you lift, then place the plastic bottle upright.",
+    "Take the medium green bottle with capped neck, move it without nearing the shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Grab the bottle with rounded neck, steer it around the plastic shampoo bottle with smooth surface, and place the bottle with rounded neck upright.",
+    "Pick up the bottle with ridges near base, route it around the white bottle with golden accents, then stand the bottle with ridges near base upright.",
+    "Using the right arm, lift the handheld green bottle, pass clear of the white shampoo bottle with golden top, then place the handheld green bottle upright.",
+    "Grab the medium-sized green bottle, move it without crossing the white bottle with golden accents, then place the medium-sized green bottle upright.",
+    "With the right arm, pick the smooth green bottle up, avoid the white bottle with golden accents, and put the smooth green bottle upright.",
+    "Pick up the bottle with rounded neck with the right arm, keep it away from the bottle for shampoo with glossy finish, place the bottle with rounded neck upright.",
+    "Grab the smooth green bottle, keep it from the white bottle with golden accents, and set the smooth green bottle upright.",
+    "Lift the smooth green bottle, route its path away from the white shampoo bottle with golden top, then set the smooth green bottle upright.",
+    "Direct the right arm to pick the plastic bottle up, avoid the bottle with yellow cap, and stand the plastic bottle upright.",
+    "Grab the handheld green bottle, keep it away from the bottle for shampoo with glossy finish, and put the handheld green bottle down upright.",
+    "With the right arm, lift the handheld green bottle, keep it away from the bottle with yellow cap, place the handheld green bottle upright.",
+    "Grab the medium green bottle with capped neck, carry it around the shampoo bottle with rectangular base, then stand the medium green bottle with capped neck upright.",
+    "Use the right arm, raise the medium-sized green bottle, keep distance from the smooth shampoo container, then place the medium-sized green bottle upright.",
+    "Grip the medium green bottle with capped neck with the right arm, keep distance from the shampoo bottle with rectangular base, then set the medium green bottle with capped neck upright.",
+    "Lift the bottle with narrow top, keep its path away from the hand-held shampoo bottle, and set the bottle with narrow top upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "Take the medium green bottle with capped neck, keep clear of the plastic shampoo bottle with smooth surface, and place the medium green bottle with capped neck upright.",
+    "Take the medium-sized green bottle up, skirt the hand-held shampoo bottle, and put the medium-sized green bottle down upright.",
+    "Lift the bottle with white printed label, route it around the medium shampoo container, then set the bottle with white printed label upright.",
+    "With the right arm, take the plastic bottle, pass outside the rectangular shampoo bottle with rounded top, and put the plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, guide it around the bottle for shampoo with glossy finish, then stand the medium green bottle with capped neck upright.",
+    "Using the right arm, grasp the plastic bottle, move it past the white bottle with golden accents, then stand the plastic bottle up.",
+    "Guide the right arm to take the handheld green bottle, bypass the bottle for shampoo with glossy finish, and place the handheld green bottle upright.",
+    "Using the right arm, pick the bottle with ridges near base up, keep clear of the white bottle with golden accents, place the bottle with ridges near base upright.",
+    "Using the right arm, lift the medium green bottle, keep clear of the white shampoo bottle with golden top, and place the medium green bottle upright.",
+    "Use the right arm to pick the bottle with white printed label up, avoid the rectangular shampoo bottle with rounded top, and place the bottle with white printed label upright.",
+    "With the right arm, secure the bottle with white printed label, pass around the medium shampoo container, and set the bottle with white printed label upright.",
+    "Move the bottle with narrow top from its spot, skirt the rectangular shampoo bottle with rounded top, and stand the bottle with narrow top upright.",
+    "Grab the bottle with narrow top, avoid the shampoo bottle while moving, then place the bottle with narrow top upright.",
+    "Use the right arm to grab the bottle with white printed label, carry it away from the white shampoo bottle with golden top, set the bottle with white printed label upright.",
+    "Pick up the smooth green plastic bottle, swing wide around the bottle for shampoo with glossy finish, and set the smooth green plastic bottle upright.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the medium shampoo container, place the smooth green plastic bottle upright.",
+    "Take the bottle with rounded neck, route it away from the shampoo bottle with rectangular base, and place the bottle with rounded neck upright.",
+    "With the right arm, take the handheld green bottle, avoid the bottle for shampoo with glossy finish while moving, and set the handheld green bottle upright.",
+    "Have the right arm grasp the medium green bottle with capped neck, avoid the plastic shampoo bottle with smooth surface while moving, and set the medium green bottle with capped neck upright.",
+    "Use the right arm to lift the handheld green bottle, avoid the bottle for shampoo with glossy finish en route, and stand the handheld green bottle up.",
+    "With the right arm, pick up the medium green bottle with capped neck, steer away from the medium shampoo container, and stand the medium green bottle with capped neck up.",
+    "With the right arm, take the medium green bottle with capped neck up, steer past the bottle with yellow cap, and place the medium green bottle with capped neck upright.",
+    "Move the medium green bottle away from the smooth shampoo container as you lift, then place the medium green bottle upright.",
+    "Take the handheld green bottle, move it without nearing the shampoo bottle with rectangular base, and stand the handheld green bottle upright.",
+    "Grab the handheld green bottle, steer it around the white bottle with golden accents, and place the handheld green bottle upright.",
+    "Pick up the bottle with white printed label, route it around the rectangular shampoo bottle with rounded top, then stand the bottle with white printed label upright.",
+    "Using the right arm, lift the medium green bottle with capped neck, pass clear of the medium shampoo container, then place the medium green bottle with capped neck upright.",
+    "Grab the bottle with ridges near base, move it without crossing the bottle with yellow cap, then place the bottle with ridges near base upright.",
+    "With the right arm, pick the smooth green plastic bottle up, avoid the white bottle with golden accents, and put the smooth green plastic bottle upright.",
+    "Pick up the bottle with white printed label with the right arm, keep it away from the shampoo bottle with rectangular base, place the bottle with white printed label upright.",
+    "Grab the handheld green bottle, keep it from the plastic shampoo bottle with smooth surface, and set the handheld green bottle upright.",
+    "Lift the bottle with white printed label, route its path away from the rectangular shampoo bottle with rounded top, then set the bottle with white printed label upright.",
+    "Direct the right arm to pick the medium green bottle up, avoid the white shampoo bottle, and stand the medium green bottle upright.",
+    "Grab the smooth green bottle, keep it away from the shampoo bottle with rectangular base, and put the smooth green bottle down upright.",
+    "With the right arm, lift the smooth green bottle, keep it away from the rectangular shampoo bottle with rounded top, place the smooth green bottle upright.",
+    "Grab the medium-sized green bottle, carry it around the white shampoo bottle, then stand the medium-sized green bottle upright.",
+    "Use the right arm, raise the handheld green bottle, keep distance from the bottle for shampoo with glossy finish, then place the handheld green bottle upright.",
+    "Grip the bottle with ridges near base with the right arm, keep distance from the white shampoo bottle with golden top, then set the bottle with ridges near base upright.",
+    "Lift the bottle with ridges near base, keep its path away from the white shampoo bottle, and set the bottle with ridges near base upright.",
+    "Lift the bottle with rounded neck, keep its path clear of the bottle with yellow cap, then set the bottle with rounded neck upright.",
+    "Take the green bottle with indented base, keep clear of the rectangular shampoo bottle with rounded top, and place the green bottle with indented base upright.",
+    "Take the bottle with ridges near base up, skirt the bottle with yellow cap, and put the bottle with ridges near base down upright.",
+    "Lift the smooth green plastic bottle, route it around the hand-held shampoo bottle, then set the smooth green plastic bottle upright.",
+    "With the right arm, take the medium green bottle with capped neck, pass outside the medium shampoo container, and put the medium green bottle with capped neck upright.",
+    "Lift the bottle with ridges near base, guide it around the white shampoo bottle, then stand the bottle with ridges near base upright.",
+    "Using the right arm, grasp the plastic bottle, move it past the bottle for shampoo with glossy finish, then stand the plastic bottle up.",
+    "Guide the right arm to take the medium green bottle with capped neck, bypass the bottle for shampoo with glossy finish, and place the medium green bottle with capped neck upright.",
+    "Using the right arm, pick the bottle with rounded neck up, keep clear of the shampoo bottle with rectangular base, place the bottle with rounded neck upright.",
+    "Using the right arm, lift the handheld green bottle, keep clear of the hand-held shampoo bottle, and place the handheld green bottle upright.",
+    "Use the right arm to pick the medium green bottle up, avoid the bottle with yellow cap, and place the medium green bottle upright.",
+    "With the right arm, secure the plastic bottle, pass around the smooth shampoo container, and set the plastic bottle upright.",
+    "Move the handheld green bottle from its spot, skirt the plastic shampoo bottle with smooth surface, and stand the handheld green bottle upright.",
+    "Grab the handheld green bottle, avoid the medium shampoo container while moving, then place the handheld green bottle upright.",
+    "Use the right arm to grab the smooth green plastic bottle, carry it away from the white bottle with golden accents, set the smooth green plastic bottle upright.",
+    "Pick up the smooth green bottle, swing wide around the medium shampoo container, and set the smooth green bottle upright.",
+    "Pick the medium-sized green bottle up, keep its path clear of the hand-held shampoo bottle, place the medium-sized green bottle upright.",
+    "Take the bottle with ridges near base, route it away from the bottle with yellow cap, and place the bottle with ridges near base upright.",
+    "With the right arm, take the bottle with white printed label, avoid the bottle for shampoo with glossy finish while moving, and set the bottle with white printed label upright.",
+    "Have the right arm grasp the bottle with rounded neck, avoid the bottle for shampoo with glossy finish while moving, and set the bottle with rounded neck upright.",
+    "Use the right arm to lift the bottle with narrow top, avoid the white shampoo bottle en route, and stand the bottle with narrow top up.",
+    "With the right arm, pick up the smooth green plastic bottle, steer away from the hand-held shampoo bottle, and stand the smooth green plastic bottle up.",
+    "With the right arm, take the handheld green bottle up, steer past the smooth shampoo container, and place the handheld green bottle upright.",
+    "Move the smooth green plastic bottle away from the bottle with yellow cap as you lift, then place the smooth green plastic bottle upright.",
+    "Take the smooth green bottle, move it without nearing the bottle for shampoo with glossy finish, and stand the smooth green bottle upright.",
+    "Grab the smooth green plastic bottle, steer it around the rectangular shampoo bottle with rounded top, and place the smooth green plastic bottle upright.",
+    "Pick up the bottle with white printed label, route it around the hand-held shampoo bottle, then stand the bottle with white printed label upright.",
+    "Using the right arm, lift the plastic bottle, pass clear of the shampoo bottle, then place the plastic bottle upright.",
+    "Grab the smooth green bottle, move it without crossing the shampoo bottle, then place the smooth green bottle upright.",
+    "With the right arm, pick the medium green bottle up, avoid the white bottle with golden accents, and put the medium green bottle upright.",
+    "Pick up the bottle with narrow top with the right arm, keep it away from the hand-held shampoo bottle, place the bottle with narrow top upright.",
+    "Grab the smooth green plastic bottle, keep it from the white shampoo bottle, and set the smooth green plastic bottle upright.",
+    "Lift the smooth green plastic bottle, route its path away from the hand-held shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Direct the right arm to pick the smooth green plastic bottle up, avoid the bottle with yellow cap, and stand the smooth green plastic bottle upright.",
+    "Grab the bottle with narrow top, keep it away from the shampoo bottle, and put the bottle with narrow top down upright.",
+    "With the right arm, lift the green bottle with indented base, keep it away from the white shampoo bottle, place the green bottle with indented base upright.",
+    "Grab the smooth green bottle, carry it around the bottle with yellow cap, then stand the smooth green bottle upright.",
+    "Use the right arm, raise the handheld green bottle, keep distance from the plastic shampoo bottle with smooth surface, then place the handheld green bottle upright.",
+    "Grip the bottle with narrow top with the right arm, keep distance from the rectangular shampoo bottle with rounded top, then set the bottle with narrow top upright.",
+    "Lift the bottle with narrow top, keep its path away from the plastic shampoo bottle with smooth surface, and set the bottle with narrow top upright."
+  ],
+  "unseen": [
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, carry it clear of the white plastic shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo bottle with rounded yellow cap, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle, carry it clear of the white plastic shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the white plastic shampoo bottle, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode49.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d2c82b4c64bc359ff41cdad627d5ecd480a1b1
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth bottle with red lid, route it around the rectangular shampoo bottle with rounded top, then stand the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the shampoo bottle with rectangular base, and stand the red-capped bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the white shampoo bottle with golden top, then place the hand-sized soda bottle upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the white shampoo bottle with golden top, then stand the hand-sized soda bottle up.",
+    "Grab the narrow-necked bottle, keep it away from the smooth shampoo container, and put the narrow-necked bottle down upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the bottle with yellow cap, place the medium dark brown bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the rectangular shampoo bottle with rounded top, and put the dark drink bottle with logo upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the white bottle with golden accents, and place the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the plastic shampoo bottle with smooth surface, then place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, avoid the plastic shampoo bottle with smooth surface while moving, then place the brown bottle with red label upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the rectangular shampoo bottle with rounded top, place the brown bottle with red label upright.",
+    "Move the brown bottle with red label away from the shampoo bottle with rectangular base as you lift, then place the brown bottle with red label upright.",
+    "Take the plastic drink bottle, move it without nearing the rectangular shampoo bottle with rounded top, and stand the plastic drink bottle upright.",
+    "Take the plastic drink bottle, keep clear of the medium shampoo container, and place the plastic drink bottle upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the bottle for shampoo with glossy finish, and set the bottle with ridges on bottom upright.",
+    "Grab the Coca-Cola bottle, steer it around the hand-held shampoo bottle, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the narrow-necked bottle up, steer past the shampoo bottle, and place the narrow-necked bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the bottle for shampoo with glossy finish, and set the bottle with white neck and red top upright.",
+    "Move the plastic drink bottle from its spot, skirt the hand-held shampoo bottle, and stand the plastic drink bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the smooth shampoo container, and stand the medium dark brown bottle up.",
+    "Lift the medium dark brown bottle, keep its path clear of the white shampoo bottle with golden top, then set the medium dark brown bottle upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the rectangular shampoo bottle with rounded top en route, and stand the bottle with white neck and red top up.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the shampoo bottle with rectangular base, and place the medium dark brown bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the hand-held shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Take the long thin bottle up, skirt the white shampoo bottle, and put the long thin bottle down upright.",
+    "Lift the bottle with white neck and red top, route its path away from the medium shampoo container, then set the bottle with white neck and red top upright.",
+    "Have the left arm grasp the plastic drink bottle, avoid the white bottle with golden accents while moving, and set the plastic drink bottle upright.",
+    "Lift the red-capped bottle, keep its path away from the white bottle with golden accents, and set the red-capped bottle upright.",
+    "Lift the bottle with white neck and red top, route it around the bottle with yellow cap, then set the bottle with white neck and red top upright.",
+    "Lift the long thin bottle, guide it around the plastic shampoo bottle with smooth surface, then stand the long thin bottle upright.",
+    "Guide the left arm to take the bottle with ridges on bottom, bypass the bottle for shampoo with glossy finish, and place the bottle with ridges on bottom upright.",
+    "Grab the medium dark brown bottle, carry it around the bottle for shampoo with glossy finish, then stand the medium dark brown bottle upright.",
+    "With the left arm, secure the long thin bottle, pass around the medium shampoo container, and set the long thin bottle upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the rectangular shampoo bottle with rounded top, set the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle, route it away from the hand-held shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the smooth shampoo container, and put the narrow-necked bottle upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the white shampoo bottle with golden top, then set the bottle with white neck and red top upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the white shampoo bottle with golden top, place the smooth bottle with red lid upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the medium shampoo container, place the red-capped bottle upright.",
+    "Pick up the plastic drink bottle, route it around the medium shampoo container, then stand the plastic drink bottle upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the bottle with yellow cap, and stand the red-capped bottle upright.",
+    "Using the left arm, lift the long thin bottle, pass clear of the shampoo bottle, then place the long thin bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the shampoo bottle with rectangular base, then stand the red-capped bottle up.",
+    "Grab the narrow-necked bottle, keep it away from the white bottle with golden accents, and put the narrow-necked bottle down upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the hand-held shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the shampoo bottle, place the hand-sized soda bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the medium shampoo container, and put the brown bottle with red label upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the bottle with yellow cap, and place the smooth bottle with red lid upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the white shampoo bottle with golden top, then place the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, avoid the rectangular shampoo bottle with rounded top while moving, then place the long thin bottle upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the shampoo bottle, place the brown bottle with red label upright.",
+    "Move the smooth bottle with red lid away from the hand-held shampoo bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the plastic shampoo bottle with smooth surface, and stand the bottle with ridges on bottom upright.",
+    "Take the hand-sized soda bottle, keep clear of the bottle for shampoo with glossy finish, and place the hand-sized soda bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the plastic shampoo bottle with smooth surface, and set the smooth bottle with red lid upright.",
+    "Grab the brown bottle with red label, steer it around the shampoo bottle, and place the brown bottle with red label upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the rectangular shampoo bottle with rounded top, and place the medium dark brown bottle upright.",
+    "Grab the dark drink bottle with logo, keep it from the white bottle with golden accents, and set the dark drink bottle with logo upright.",
+    "Move the brown bottle with red label from its spot, skirt the bottle with yellow cap, and stand the brown bottle with red label upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the medium shampoo container, and stand the dark drink bottle with logo up.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Use the left arm to lift the brown bottle with red label, avoid the hand-held shampoo bottle en route, and stand the brown bottle with red label up.",
+    "Use the left arm to pick the red-capped bottle up, avoid the white bottle with golden accents, and place the red-capped bottle upright.",
+    "With the left arm, take the red-capped bottle, avoid the bottle for shampoo with glossy finish while moving, and set the red-capped bottle upright.",
+    "Take the long thin bottle up, skirt the white shampoo bottle with golden top, and put the long thin bottle down upright.",
+    "Lift the Coca-Cola bottle, route its path away from the bottle with yellow cap, then set the Coca-Cola bottle upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the plastic shampoo bottle with smooth surface while moving, and set the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the white bottle with golden accents, and set the bottle with white neck and red top upright.",
+    "Lift the bottle with ridges on bottom, route it around the hand-held shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, guide it around the shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the rectangular shampoo bottle with rounded top, and place the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the hand-held shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "With the left arm, secure the narrow-necked bottle, pass around the white shampoo bottle, and set the narrow-necked bottle upright.",
+    "Use the left arm to grab the dark drink bottle with logo, carry it away from the medium shampoo container, set the dark drink bottle with logo upright.",
+    "Take the narrow-necked bottle, route it away from the white shampoo bottle with golden top, and place the narrow-necked bottle upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the rectangular shampoo bottle with rounded top, and put the brown bottle with red label upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the shampoo bottle with rectangular base, then set the hand-sized soda bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the white bottle with golden accents, place the narrow-necked bottle upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the plastic shampoo bottle with smooth surface, place the brown bottle with red label upright.",
+    "Pick up the long thin bottle, route it around the smooth shampoo container, then stand the long thin bottle upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the shampoo bottle with rectangular base, and stand the long thin bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the shampoo bottle, then place the narrow-necked bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the shampoo bottle with rectangular base, then stand the medium dark brown bottle up.",
+    "Grab the red-capped bottle, keep it away from the plastic shampoo bottle with smooth surface, and put the red-capped bottle down upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the white shampoo bottle, then place the long thin bottle upright.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the white shampoo bottle with golden top, place the red-capped bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the bottle with yellow cap, and put the plastic drink bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the medium shampoo container, and place the narrow-necked bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the shampoo bottle with rectangular base, then place the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, avoid the white bottle with golden accents while moving, then place the bottle with ridges on bottom upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the smooth shampoo container, place the brown bottle with red label upright.",
+    "Move the medium dark brown bottle away from the bottle for shampoo with glossy finish as you lift, then place the medium dark brown bottle upright.",
+    "Take the brown bottle with red label, move it without nearing the bottle for shampoo with glossy finish, and stand the brown bottle with red label upright.",
+    "Take the hand-sized soda bottle, keep clear of the bottle with yellow cap, and place the hand-sized soda bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the white shampoo bottle with golden top, and set the hand-sized soda bottle upright.",
+    "Grab the smooth bottle with red lid, steer it around the hand-held shampoo bottle, and place the smooth bottle with red lid upright.",
+    "With the left arm, take the Coca-Cola bottle up, steer past the white shampoo bottle with golden top, and place the Coca-Cola bottle upright.",
+    "Grab the brown bottle with red label, keep it from the hand-held shampoo bottle, and set the brown bottle with red label upright.",
+    "Move the medium dark brown bottle from its spot, skirt the white shampoo bottle with golden top, and stand the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the medium-sized shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white plastic shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white plastic shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the white plastic shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the medium-sized shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the white plastic shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode5.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae4a33f29c763b0a760abcfd7b5b76dd7468097
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, take the brown bottle with red label up, steer past the pink-topped shampoo bottle, and place the brown bottle with red label upright.",
+    "With the left arm, secure the red-capped bottle, pass around the shampoo bottle with pink cap, and set the red-capped bottle upright.",
+    "With the left arm, take the brown bottle with red label, avoid the white body pink flip cap bottle while moving, and set the brown bottle with red label upright.",
+    "Lift the dark drink bottle with logo, route it around the medium oval plastic shampoo container, then set the dark drink bottle with logo upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the smooth white shampoo dispenser, and set the bottle with ridges on bottom upright.",
+    "Lift the dark drink bottle with logo, route its path away from the smooth white shampoo dispenser, then set the dark drink bottle with logo upright.",
+    "Use the left arm to grab the medium dark brown bottle, carry it away from the medium oval plastic shampoo container, set the medium dark brown bottle upright.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the hand-sized shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Take the plastic drink bottle, route it away from the smooth white shampoo dispenser, and place the plastic drink bottle upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the glossy white shampoo bottle, place the medium dark brown bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the glossy white shampoo bottle, and place the narrow-necked bottle upright.",
+    "Move the Coca-Cola bottle away from the oval-shaped shampoo bottle as you lift, then place the Coca-Cola bottle upright.",
+    "Lift the plastic drink bottle, guide it around the white body pink flip cap bottle, then stand the plastic drink bottle upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the smooth white shampoo dispenser, and stand the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, steer it around the plastic shampoo container, and place the brown bottle with red label upright.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the glossy white shampoo bottle, and put the hand-sized soda bottle upright.",
+    "Take the medium dark brown bottle, keep clear of the medium oval plastic shampoo container, and place the medium dark brown bottle upright.",
+    "Use the left arm, raise the smooth bottle with red lid, keep distance from the shampoo dispenser with flat base, then place the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the white shampoo bottle, then stand the dark drink bottle with logo up.",
+    "Lift the dark drink bottle with logo, keep its path clear of the smooth white shampoo dispenser, then set the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, keep it away from the glossy white shampoo bottle, and put the medium dark brown bottle down upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the medium oval plastic shampoo container, place the red-capped bottle upright.",
+    "Move the brown bottle with red label from its spot, skirt the white body pink flip cap bottle, and stand the brown bottle with red label upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the smooth white shampoo dispenser, and place the hand-sized soda bottle upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the glossy white shampoo bottle while moving, and set the smooth bottle with red lid upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the oval-shaped shampoo bottle, then place the red-capped bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the shampoo bottle with pink cap, and put the hand-sized soda bottle upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the glossy white shampoo bottle en route, and stand the bottle with ridges on bottom up.",
+    "Grab the smooth bottle with red lid, keep it from the hand-sized shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Pick up the brown bottle with red label, route it around the oval-shaped shampoo bottle, then stand the brown bottle with red label upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the hand-sized shampoo bottle, and stand the long thin bottle up.",
+    "Using the left arm, pick the narrow-necked bottle up, keep clear of the medium shampoo bottle, place the narrow-necked bottle upright.",
+    "Grab the narrow-necked bottle, carry it around the hand-sized shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the medium shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, move it without nearing the white body pink flip cap bottle, and stand the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the shampoo bottle with pink cap, then place the dark drink bottle with logo upright.",
+    "Grab the hand-sized soda bottle, avoid the glossy white shampoo bottle while moving, then place the hand-sized soda bottle upright.",
+    "Pick the red-capped bottle up, keep its path clear of the medium oval plastic shampoo container, place the red-capped bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the glossy white shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the smooth white shampoo dispenser, then set the red-capped bottle upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the medium shampoo bottle, and place the dark drink bottle with logo upright.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the shampoo bottle with pink cap, and set the dark drink bottle with logo upright.",
+    "With the left arm, take the bottle with white neck and red top, avoid the hand-sized shampoo bottle while moving, and set the bottle with white neck and red top upright.",
+    "Lift the dark drink bottle with logo, route it around the white body pink flip cap bottle, then set the dark drink bottle with logo upright.",
+    "Pick up the medium dark brown bottle, swing wide around the glossy white shampoo bottle, and set the medium dark brown bottle upright.",
+    "Lift the brown bottle with red label, route its path away from the plastic shampoo container, then set the brown bottle with red label upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the shampoo dispenser with flat base, set the bottle with white neck and red top upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the hand-sized shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Take the brown bottle with red label, route it away from the white body pink flip cap bottle, and place the brown bottle with red label upright.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the smooth white shampoo dispenser, place the dark drink bottle with logo upright.",
+    "Guide the left arm to take the long thin bottle, bypass the oval-shaped shampoo bottle, and place the long thin bottle upright.",
+    "Move the red-capped bottle away from the glossy white shampoo bottle as you lift, then place the red-capped bottle upright.",
+    "Lift the red-capped bottle, guide it around the plastic shampoo container, then stand the red-capped bottle upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the pink-topped shampoo bottle, and stand the long thin bottle upright.",
+    "Grab the bottle with ridges on bottom, steer it around the pink-topped shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the medium shampoo bottle, and put the medium dark brown bottle upright.",
+    "Take the bottle with white neck and red top, keep clear of the hand-sized shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the shampoo dispenser with flat base, then place the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the Coca-Cola bottle, move it past the shampoo dispenser with flat base, then stand the Coca-Cola bottle up.",
+    "Lift the narrow-necked bottle, keep its path clear of the shampoo bottle with pink cap, then set the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, keep it away from the shampoo dispenser with flat base, and put the plastic drink bottle down upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the plastic shampoo container, place the hand-sized soda bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the plastic shampoo container, and stand the hand-sized soda bottle upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the smooth white shampoo dispenser, and place the long thin bottle upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the pink-topped shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the pink-topped shampoo bottle, then place the narrow-necked bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the shampoo dispenser with flat base, and put the bottle with ridges on bottom upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the white body pink flip cap bottle en route, and stand the smooth bottle with red lid up.",
+    "Grab the medium dark brown bottle, keep it from the oval-shaped shampoo bottle, and set the medium dark brown bottle upright.",
+    "Pick up the plastic drink bottle, route it around the shampoo dispenser with flat base, then stand the plastic drink bottle upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the white shampoo bottle, and stand the bottle with white neck and red top up.",
+    "Using the left arm, pick the narrow-necked bottle up, keep clear of the pink-topped shampoo bottle, place the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, carry it around the hand-sized shampoo bottle, then stand the plastic drink bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the hand-sized shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Take the long thin bottle, move it without nearing the medium oval plastic shampoo container, and stand the long thin bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the pink-topped shampoo bottle, then place the medium dark brown bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the hand-sized shampoo bottle while moving, then place the dark drink bottle with logo upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the white shampoo bottle, place the dark drink bottle with logo upright.",
+    "Take the medium dark brown bottle up, skirt the hand-sized shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the shampoo bottle with pink cap, then set the plastic drink bottle upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the shampoo bottle with pink cap, and place the smooth bottle with red lid upright.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the plastic shampoo container, and set the dark drink bottle with logo upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the smooth white shampoo dispenser while moving, and set the hand-sized soda bottle upright.",
+    "Lift the medium dark brown bottle, route it around the medium oval plastic shampoo container, then set the medium dark brown bottle upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the oval-shaped shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the hand-sized shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the shampoo bottle with pink cap, set the smooth bottle with red lid upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the medium shampoo bottle, and place the plastic drink bottle upright.",
+    "Take the red-capped bottle, route it away from the oval-shaped shampoo bottle, and place the red-capped bottle upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the oval-shaped shampoo bottle, place the Coca-Cola bottle upright.",
+    "Guide the left arm to take the brown bottle with red label, bypass the white body pink flip cap bottle, and place the brown bottle with red label upright.",
+    "Move the medium dark brown bottle away from the oval-shaped shampoo bottle as you lift, then place the medium dark brown bottle upright.",
+    "Lift the plastic drink bottle, guide it around the plastic shampoo container, then stand the plastic drink bottle upright.",
+    "Direct the left arm to pick the dark drink bottle with logo up, avoid the oval-shaped shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Grab the bottle with ridges on bottom, steer it around the white shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "With the left arm, pick the bottle with ridges on bottom up, avoid the pink-topped shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Take the hand-sized soda bottle, keep clear of the plastic shampoo container, and place the hand-sized soda bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the oval-shaped shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the bottle with white neck and red top, move it past the medium shampoo bottle, then stand the bottle with white neck and red top up.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the smooth white shampoo dispenser, then set the bottle with ridges on bottom upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode50.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..74aebcb35c65ec9dd3611c7b5b33ee06e807543c
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the red-capped bottle with the right arm, keep distance from the shampoo bottle with matte plastic, then set the red-capped bottle upright.",
+    "With the right arm, secure the bottle with ridges on bottom, pass around the shampoo bottle with matte plastic, and set the bottle with ridges on bottom upright.",
+    "Pick up the dark drink bottle with logo with the right arm, keep it away from the shampoo bottle with white cap, place the dark drink bottle with logo upright.",
+    "Pick up the long thin bottle, swing wide around the bottle light blue rounded shape, and set the long thin bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the shampoo bottle tapered toward cap, and place the medium dark brown bottle upright.",
+    "Using the right arm, grasp the smooth bottle with red lid, move it past the light blue shampoo bottle small size, then stand the smooth bottle with red lid up.",
+    "Lift the hand-sized soda bottle, guide it around the light blue shampoo bottle small size, then stand the hand-sized soda bottle upright.",
+    "Grab the red-capped bottle, keep it from the shampoo bottle with white cap, and set the red-capped bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the small smooth shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Take the bottle with ridges on bottom, keep clear of the curved light blue shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Take the hand-sized soda bottle, move it without nearing the shampoo bottle with matte plastic, and stand the hand-sized soda bottle upright.",
+    "Move the narrow-necked bottle away from the blue shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle, route it away from the blue shampoo bottle, and place the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the blue shampoo bottle while moving, then place the dark drink bottle with logo upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the hand-sized shampoo bottle, place the dark drink bottle with logo upright.",
+    "Guide the right arm to take the dark drink bottle with logo, bypass the hand-sized shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the bottle light blue rounded shape, then place the bottle with white neck and red top upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the hand-sized shampoo bottle, then set the Coca-Cola bottle upright.",
+    "With the right arm, take the narrow-necked bottle, pass outside the small smooth shampoo bottle, and put the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the light blue shampoo bottle small size, then set the bottle with ridges on bottom upright.",
+    "With the right arm, pick the narrow-necked bottle up, avoid the curved light blue shampoo bottle, and put the narrow-necked bottle upright.",
+    "Use the right arm to lift the plastic drink bottle, avoid the bottle of shampoo en route, and stand the plastic drink bottle up.",
+    "Use the right arm to grab the medium dark brown bottle, carry it away from the shampoo bottle with white cap, set the medium dark brown bottle upright.",
+    "Direct the right arm to pick the red-capped bottle up, avoid the shampoo bottle with white cap, and stand the red-capped bottle upright.",
+    "Using the right arm, lift the hand-sized soda bottle, keep clear of the curved light blue shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Have the right arm grasp the plastic drink bottle, avoid the bottle of shampoo while moving, and set the plastic drink bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the shampoo bottle flat bottom edge, and stand the plastic drink bottle upright.",
+    "Pick up the long thin bottle, route it around the shampoo bottle with matte plastic, then stand the long thin bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the shampoo bottle tapered toward cap, then set the hand-sized soda bottle upright.",
+    "With the right arm, take the medium dark brown bottle up, steer past the shampoo bottle flat bottom edge, and place the medium dark brown bottle upright.",
+    "Use the right arm, raise the brown bottle with red label, keep distance from the blue shampoo bottle slender design, then place the brown bottle with red label upright.",
+    "Grab the bottle with white neck and red top, keep it away from the shampoo bottle with white cap, and put the bottle with white neck and red top down upright.",
+    "Take the bottle with ridges on bottom up, skirt the curved light blue shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Grab the long thin bottle, carry it around the shampoo bottle flat bottom edge, then stand the long thin bottle upright.",
+    "With the right arm, lift the red-capped bottle, keep it away from the blue shampoo bottle, place the red-capped bottle upright.",
+    "Use the right arm to pick the plastic drink bottle up, avoid the bottle light blue rounded shape, and place the plastic drink bottle upright.",
+    "With the right arm, take the brown bottle with red label, avoid the shampoo bottle with matte plastic while moving, and set the brown bottle with red label upright.",
+    "Pick the bottle with ridges on bottom up, keep its path clear of the small smooth shampoo bottle, place the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the hand-sized soda bottle, pass clear of the shampoo bottle with matte plastic, then place the hand-sized soda bottle upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the shampoo bottle tapered toward cap, and stand the dark drink bottle with logo up.",
+    "Grip the bottle with white neck and red top with the right arm, keep distance from the small smooth shampoo bottle, then set the bottle with white neck and red top upright.",
+    "With the right arm, secure the bottle with ridges on bottom, pass around the shampoo bottle with white cap, and set the bottle with ridges on bottom upright.",
+    "Pick up the Coca-Cola bottle with the right arm, keep it away from the curved light blue shampoo bottle, place the Coca-Cola bottle upright.",
+    "Pick up the brown bottle with red label, swing wide around the bottle of shampoo, and set the brown bottle with red label upright.",
+    "Grab the plastic drink bottle, steer it around the blue shampoo bottle, and place the plastic drink bottle upright.",
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the bottle light blue rounded shape, then stand the Coca-Cola bottle up.",
+    "Lift the hand-sized soda bottle, guide it around the light blue shampoo bottle small size, then stand the hand-sized soda bottle upright.",
+    "Grab the hand-sized soda bottle, keep it from the blue shampoo bottle slender design, and set the hand-sized soda bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the shampoo bottle flat bottom edge, and set the medium dark brown bottle upright.",
+    "Take the long thin bottle, keep clear of the blue shampoo bottle slender design, and place the long thin bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the blue shampoo bottle slender design, and stand the plastic drink bottle upright.",
+    "Move the long thin bottle away from the bottle of shampoo as you lift, then place the long thin bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the shampoo bottle flat bottom edge, and place the Coca-Cola bottle upright.",
+    "Grab the narrow-necked bottle, avoid the curved light blue shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Using the right arm, pick the narrow-necked bottle up, keep clear of the small smooth shampoo bottle, place the narrow-necked bottle upright.",
+    "Guide the right arm to take the smooth bottle with red lid, bypass the blue shampoo bottle slender design, and place the smooth bottle with red lid upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the light blue shampoo bottle small size, then place the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the shampoo bottle tapered toward cap, then set the smooth bottle with red lid upright.",
+    "With the right arm, take the bottle with ridges on bottom, pass outside the curved light blue shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, route its path away from the curved light blue shampoo bottle, then set the long thin bottle upright.",
+    "With the right arm, pick the brown bottle with red label up, avoid the curved light blue shampoo bottle, and put the brown bottle with red label upright.",
+    "Use the right arm to lift the narrow-necked bottle, avoid the shampoo bottle flat bottom edge en route, and stand the narrow-necked bottle up.",
+    "Use the right arm to grab the plastic drink bottle, carry it away from the shampoo bottle flat bottom edge, set the plastic drink bottle upright.",
+    "Direct the right arm to pick the bottle with white neck and red top up, avoid the shampoo bottle tapered toward cap, and stand the bottle with white neck and red top upright.",
+    "Using the right arm, lift the smooth bottle with red lid, keep clear of the light blue shampoo bottle small size, and place the smooth bottle with red lid upright.",
+    "Have the right arm grasp the Coca-Cola bottle, avoid the shampoo bottle flat bottom edge while moving, and set the Coca-Cola bottle upright.",
+    "Move the narrow-necked bottle from its spot, skirt the hand-sized shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Pick up the brown bottle with red label, route it around the bottle light blue rounded shape, then stand the brown bottle with red label upright.",
+    "Lift the red-capped bottle, route it around the bottle of shampoo, then set the red-capped bottle upright.",
+    "With the right arm, take the long thin bottle up, steer past the light blue shampoo bottle small size, and place the long thin bottle upright.",
+    "Use the right arm, raise the dark drink bottle with logo, keep distance from the curved light blue shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Grab the Coca-Cola bottle, keep it away from the shampoo bottle with white cap, and put the Coca-Cola bottle down upright.",
+    "Take the medium dark brown bottle up, skirt the hand-sized shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Grab the bottle with ridges on bottom, carry it around the bottle of shampoo, then stand the bottle with ridges on bottom upright.",
+    "With the right arm, lift the narrow-necked bottle, keep it away from the light blue shampoo bottle small size, place the narrow-necked bottle upright.",
+    "Use the right arm to pick the bottle with white neck and red top up, avoid the blue shampoo bottle slender design, and place the bottle with white neck and red top upright.",
+    "With the right arm, take the red-capped bottle, avoid the shampoo bottle with matte plastic while moving, and set the red-capped bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the bottle of shampoo, place the medium dark brown bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, pass clear of the small smooth shampoo bottle, then place the narrow-necked bottle upright.",
+    "With the right arm, pick up the long thin bottle, steer away from the blue shampoo bottle, and stand the long thin bottle up.",
+    "Grip the smooth bottle with red lid with the right arm, keep distance from the light blue shampoo bottle small size, then set the smooth bottle with red lid upright.",
+    "With the right arm, secure the smooth bottle with red lid, pass around the bottle of shampoo, and set the smooth bottle with red lid upright.",
+    "Pick up the bottle with white neck and red top with the right arm, keep it away from the blue shampoo bottle, place the bottle with white neck and red top upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the curved light blue shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Grab the Coca-Cola bottle, steer it around the bottle of shampoo, and place the Coca-Cola bottle upright.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the shampoo bottle with matte plastic, then stand the hand-sized soda bottle up.",
+    "Lift the medium dark brown bottle, guide it around the small smooth shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the blue shampoo bottle slender design, and set the Coca-Cola bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the shampoo bottle flat bottom edge, and set the plastic drink bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo bottle with matte plastic, and place the bottle with ridges on bottom upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the blue shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Move the Coca-Cola bottle away from the small smooth shampoo bottle as you lift, then place the Coca-Cola bottle upright.",
+    "Take the long thin bottle, route it away from the hand-sized shampoo bottle, and place the long thin bottle upright.",
+    "Grab the brown bottle with red label, avoid the light blue shampoo bottle small size while moving, then place the brown bottle with red label upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the curved light blue shampoo bottle, place the dark drink bottle with logo upright.",
+    "Guide the right arm to take the plastic drink bottle, bypass the shampoo bottle with white cap, and place the plastic drink bottle upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the light blue shampoo bottle small size, then place the bottle with ridges on bottom upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the small smooth shampoo bottle, then set the medium dark brown bottle upright.",
+    "With the right arm, take the medium dark brown bottle, pass outside the blue shampoo bottle slender design, and put the medium dark brown bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the shampoo bottle flat bottom edge, then set the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode51.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f303e2b8b2c30da21a1f7199aeddb15e5db9a7f
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the hand-sized soda bottle, avoid the shampoo bottle with black pump en route, and stand the hand-sized soda bottle up.",
+    "Lift the Coca-Cola bottle, keep its path clear of the rectangular green plastic shampoo dispenser, then set the Coca-Cola bottle upright.",
+    "Take the smooth bottle with red lid up, skirt the shampoo bottle with black pump, and put the smooth bottle with red lid down upright.",
+    "Lift the brown bottle with red label, guide it around the dark green bottle with pump, then stand the brown bottle with red label upright.",
+    "Move the medium dark brown bottle from its spot, skirt the plastic shampoo container, and stand the medium dark brown bottle upright.",
+    "Grab the narrow-necked bottle, keep it from the shampoo container with dispensing pump, and set the narrow-necked bottle upright.",
+    "Grab the brown bottle with red label, carry it around the plastic shampoo container, then stand the brown bottle with red label upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the shampoo bottle with matte black pump, and put the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle, pass outside the shampoo bottle with black pump, and put the medium dark brown bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the hand-sized shampoo bottle, and set the Coca-Cola bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the rectangular dark green shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the shampoo bottle, green with black cap, and put the bottle with ridges on bottom down upright.",
+    "Grab the dark drink bottle with logo, avoid the shampoo bottle with black pump while moving, then place the dark drink bottle with logo upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the dark green bottle with pump, then place the bottle with white neck and red top upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the rectangular dark green shampoo bottle, and set the medium dark brown bottle upright.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the shampoo container with dispensing pump, and place the hand-sized soda bottle upright.",
+    "Take the brown bottle with red label, keep clear of the medium size shampoo bottle, and place the brown bottle with red label upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the hand-sized shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the rectangular green plastic shampoo dispenser, set the Coca-Cola bottle upright.",
+    "Move the plastic drink bottle away from the green shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the rectangular dark green shampoo bottle, place the long thin bottle upright.",
+    "Take the dark drink bottle with logo, move it without nearing the shampoo bottle with matte black pump, and stand the dark drink bottle with logo upright.",
+    "Direct the left arm to pick the smooth bottle with red lid up, avoid the rectangular green plastic shampoo dispenser, and stand the smooth bottle with red lid upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the rectangular dark green shampoo bottle, place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the brown bottle with red label, bypass the rectangular green plastic shampoo dispenser, and place the brown bottle with red label upright.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the dark green bottle with pump, and stand the Coca-Cola bottle up.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the green shampoo bottle, place the smooth bottle with red lid upright.",
+    "Pick up the narrow-necked bottle, route it around the shampoo bottle with smooth surface, then stand the narrow-necked bottle upright.",
+    "Take the plastic drink bottle, route it away from the shampoo bottle with black pump, and place the plastic drink bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the hand-sized shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Lift the bottle with ridges on bottom, route it around the shampoo container with dispensing pump, then set the bottle with ridges on bottom upright.",
+    "Grab the bottle with white neck and red top, steer it around the dark green bottle with pump, and place the bottle with white neck and red top upright.",
+    "Using the left arm, lift the dark drink bottle with logo, keep clear of the rectangular green plastic shampoo dispenser, and place the dark drink bottle with logo upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the plastic shampoo container, place the brown bottle with red label upright.",
+    "Using the left arm, grasp the Coca-Cola bottle, move it past the dark green bottle with pump, then stand the Coca-Cola bottle up.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the shampoo bottle with matte black pump, then set the bottle with white neck and red top upright.",
+    "Pick up the brown bottle with red label, swing wide around the rectangular dark green shampoo bottle, and set the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the green shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the plastic shampoo container while moving, and set the narrow-necked bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, avoid the hand-sized shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the rectangular dark green shampoo bottle en route, and stand the bottle with white neck and red top up.",
+    "Lift the plastic drink bottle, keep its path clear of the green shampoo bottle, then set the plastic drink bottle upright.",
+    "Take the long thin bottle up, skirt the hand-sized shampoo bottle, and put the long thin bottle down upright.",
+    "Lift the medium dark brown bottle, guide it around the rectangular green plastic shampoo dispenser, then stand the medium dark brown bottle upright.",
+    "Move the brown bottle with red label from its spot, skirt the shampoo bottle with smooth surface, and stand the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, keep it from the dark green bottle with pump, and set the bottle with ridges on bottom upright.",
+    "Grab the smooth bottle with red lid, carry it around the medium size shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "With the left arm, pick the long thin bottle up, avoid the shampoo bottle with matte black pump, and put the long thin bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the shampoo bottle with smooth surface, and put the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, keep its path away from the shampoo bottle with smooth surface, and set the medium dark brown bottle upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the dark green bottle with pump, and place the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, keep it away from the shampoo bottle with matte black pump, and put the plastic drink bottle down upright.",
+    "Grab the bottle with ridges on bottom, avoid the shampoo bottle with matte black pump while moving, then place the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the shampoo container with dispensing pump, then place the dark drink bottle with logo upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the plastic shampoo container, and set the hand-sized soda bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the shampoo bottle with smooth surface, and place the long thin bottle upright.",
+    "Take the plastic drink bottle, keep clear of the shampoo bottle with smooth surface, and place the plastic drink bottle upright.",
+    "Lift the hand-sized soda bottle, route its path away from the plastic shampoo container, then set the hand-sized soda bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the rectangular dark green shampoo bottle, set the bottle with white neck and red top upright.",
+    "Move the smooth bottle with red lid away from the green shampoo bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the rectangular green plastic shampoo dispenser, place the long thin bottle upright.",
+    "Take the hand-sized soda bottle, move it without nearing the plastic shampoo container, and stand the hand-sized soda bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the shampoo bottle with black pump, and stand the bottle with ridges on bottom upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the green shampoo bottle, place the hand-sized soda bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the rectangular dark green shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the shampoo bottle with smooth surface, and stand the long thin bottle up.",
+    "Pick the bottle with white neck and red top up, keep its path clear of the green shampoo bottle, place the bottle with white neck and red top upright.",
+    "Pick up the bottle with ridges on bottom, route it around the dark green bottle with pump, then stand the bottle with ridges on bottom upright.",
+    "Take the medium dark brown bottle, route it away from the medium size shampoo bottle, and place the medium dark brown bottle upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the rectangular green plastic shampoo dispenser, then place the hand-sized soda bottle upright.",
+    "Lift the long thin bottle, route it around the shampoo bottle with black pump, then set the long thin bottle upright.",
+    "Grab the long thin bottle, steer it around the medium size shampoo bottle, and place the long thin bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the dark green bottle with pump, and place the smooth bottle with red lid upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the shampoo bottle with smooth surface, place the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the Coca-Cola bottle, move it past the shampoo bottle with matte black pump, then stand the Coca-Cola bottle up.",
+    "Grip the long thin bottle with the left arm, keep distance from the rectangular dark green shampoo bottle, then set the long thin bottle upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the shampoo bottle with matte black pump, and set the Coca-Cola bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the dark green bottle with pump, then place the plastic drink bottle upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the plastic shampoo container while moving, and set the hand-sized soda bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the rectangular dark green shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the shampoo container with dispensing pump en route, and stand the bottle with ridges on bottom up.",
+    "Lift the plastic drink bottle, keep its path clear of the shampoo bottle, green with black cap, then set the plastic drink bottle upright.",
+    "Take the narrow-necked bottle up, skirt the shampoo container with dispensing pump, and put the narrow-necked bottle down upright.",
+    "Lift the Coca-Cola bottle, guide it around the rectangular dark green shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the shampoo bottle with matte black pump, and stand the plastic drink bottle upright.",
+    "Grab the long thin bottle, keep it from the rectangular green plastic shampoo dispenser, and set the long thin bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the rectangular green plastic shampoo dispenser, then stand the medium dark brown bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the shampoo bottle, green with black cap, and put the narrow-necked bottle upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the plastic shampoo container, and put the narrow-necked bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the shampoo bottle with smooth surface, and set the hand-sized soda bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the hand-sized shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle, green with black cap, and put the dark drink bottle with logo down upright.",
+    "Grab the long thin bottle, avoid the shampoo bottle with black pump while moving, then place the long thin bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the rectangular dark green shampoo bottle, then place the bottle with white neck and red top upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the shampoo bottle with black pump, and set the bottle with white neck and red top upright.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the dark green bottle with pump, and place the smooth bottle with red lid upright.",
+    "Take the red-capped bottle, keep clear of the shampoo bottle with matte black pump, and place the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the rectangular green plastic shampoo dispenser, then set the medium dark brown bottle upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the shampoo bottle with matte black pump, set the red-capped bottle upright.",
+    "Move the hand-sized soda bottle away from the shampoo bottle with black pump as you lift, then place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the green bottle with pump top, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the dark green pump shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode52.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a2f65a693495308794b454506a8d373a388612f
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the plastic shampoo with orange label, and stand the dark drink bottle with logo up.",
+    "Pick up the long thin bottle, swing wide around the plastic shampoo with orange label, and set the long thin bottle upright.",
+    "Lift the bottle with white neck and red top, route it around the shampoo bottle with curved sides, then set the bottle with white neck and red top upright.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the white shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, pass clear of the plastic shampoo with orange label, then place the bottle with ridges on bottom upright.",
+    "Using the right arm, grasp the dark drink bottle with logo, move it past the shampoo bottle with blue cap, then stand the dark drink bottle with logo up.",
+    "Use the right arm, raise the brown bottle with red label, keep distance from the shampoo bottle with blue cap, then place the brown bottle with red label upright.",
+    "Take the long thin bottle, move it without nearing the medium-sized white plastic shampoo, and stand the long thin bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the bottle with hexagonal blue cap, then stand the smooth bottle with red lid upright.",
+    "Grab the brown bottle with red label, keep it from the shampoo bottle with blue cap, and set the brown bottle with red label upright.",
+    "Use the right arm to pick the bottle with white neck and red top up, avoid the bottle with smooth surface, and place the bottle with white neck and red top upright.",
+    "Guide the right arm to take the red-capped bottle, bypass the plastic shampoo with orange label, and place the red-capped bottle upright.",
+    "Direct the right arm to pick the Coca-Cola bottle up, avoid the white shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "With the right arm, take the plastic drink bottle, avoid the blue top shampoo bottle while moving, and set the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the curved shampoo bottle, then place the plastic drink bottle upright.",
+    "Take the Coca-Cola bottle, keep clear of the shampoo bottle with curved sides, and place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the bottle with white neck and red top, keep clear of the plastic shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the shampoo bottle with blue cap, set the dark drink bottle with logo upright.",
+    "Use the right arm to lift the hand-sized soda bottle, avoid the white shampoo bottle en route, and stand the hand-sized soda bottle up.",
+    "Grab the bottle with white neck and red top, avoid the shampoo bottle with curved sides while moving, then place the bottle with white neck and red top upright.",
+    "Grab the red-capped bottle, keep it away from the white and blue shampoo container, and put the red-capped bottle down upright.",
+    "Take the dark drink bottle with logo, route it away from the white and blue shampoo container, and place the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle with the right arm, keep it away from the shampoo bottle with blue cap, place the narrow-necked bottle upright.",
+    "With the right arm, take the brown bottle with red label, pass outside the plastic shampoo bottle, and put the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, steer it around the blue top shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Move the red-capped bottle from its spot, skirt the bottle with smooth surface, and stand the red-capped bottle upright.",
+    "Grip the brown bottle with red label with the right arm, keep distance from the medium-sized white plastic shampoo, then set the brown bottle with red label upright.",
+    "Lift the brown bottle with red label, keep its path away from the bottle with hexagonal blue cap, and set the brown bottle with red label upright.",
+    "Lift the red-capped bottle, guide it around the white and blue shampoo container, then stand the red-capped bottle upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the white shampoo bottle, place the Coca-Cola bottle upright.",
+    "Using the right arm, pick the medium dark brown bottle up, keep clear of the blue top shampoo bottle, place the medium dark brown bottle upright.",
+    "Lift the Coca-Cola bottle, route its path away from the handheld shampoo container, then set the Coca-Cola bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the handheld shampoo container, then stand the hand-sized soda bottle upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the bottle with hexagonal blue cap, and put the plastic drink bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the medium-sized white plastic shampoo, and put the hand-sized soda bottle down upright.",
+    "Move the bottle with white neck and red top away from the plastic shampoo with orange label as you lift, then place the bottle with white neck and red top upright.",
+    "With the right arm, lift the Coca-Cola bottle, keep it away from the bottle with hexagonal blue cap, place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the white and blue shampoo container, then set the smooth bottle with red lid upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the shampoo bottle with curved sides, and set the bottle with white neck and red top upright.",
+    "With the right arm, take the bottle with ridges on bottom up, steer past the white shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "With the right arm, pick up the red-capped bottle, steer away from the plastic shampoo with orange label, and stand the red-capped bottle up.",
+    "Pick up the dark drink bottle with logo, swing wide around the white shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Lift the brown bottle with red label, route it around the shampoo bottle with blue cap, then set the brown bottle with red label upright.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the bottle with hexagonal blue cap while moving, and set the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the red-capped bottle, pass clear of the medium-sized white plastic shampoo, then place the red-capped bottle upright.",
+    "Using the right arm, grasp the narrow-necked bottle, move it past the plastic shampoo with orange label, then stand the narrow-necked bottle up.",
+    "Use the right arm, raise the bottle with white neck and red top, keep distance from the curved shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Take the long thin bottle, move it without nearing the white and blue shampoo container, and stand the long thin bottle upright.",
+    "Grab the brown bottle with red label, carry it around the blue top shampoo bottle, then stand the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, keep it from the plastic shampoo with orange label, and set the brown bottle with red label upright.",
+    "Use the right arm to pick the medium dark brown bottle up, avoid the medium-sized white plastic shampoo, and place the medium dark brown bottle upright.",
+    "Guide the right arm to take the plastic drink bottle, bypass the curved shampoo bottle, and place the plastic drink bottle upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the shampoo bottle with blue cap, and stand the dark drink bottle with logo upright.",
+    "With the right arm, take the hand-sized soda bottle, avoid the white and blue shampoo container while moving, and set the hand-sized soda bottle upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the plastic shampoo with orange label, then place the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, keep clear of the plastic shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the bottle with hexagonal blue cap, and place the red-capped bottle upright.",
+    "Use the right arm to grab the medium dark brown bottle, carry it away from the plastic shampoo with orange label, set the medium dark brown bottle upright.",
+    "Use the right arm to lift the hand-sized soda bottle, avoid the bottle with hexagonal blue cap en route, and stand the hand-sized soda bottle up.",
+    "Grab the medium dark brown bottle, avoid the medium-sized white plastic shampoo while moving, then place the medium dark brown bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the white shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Take the smooth bottle with red lid, route it away from the plastic shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Pick up the bottle with white neck and red top with the right arm, keep it away from the plastic shampoo bottle, place the bottle with white neck and red top upright.",
+    "With the right arm, take the brown bottle with red label, pass outside the shampoo bottle with curved sides, and put the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, steer it around the shampoo bottle with blue cap, and place the bottle with ridges on bottom upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the blue top shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Grip the dark drink bottle with logo with the right arm, keep distance from the handheld shampoo container, then set the dark drink bottle with logo upright.",
+    "Lift the long thin bottle, keep its path away from the white shampoo bottle, and set the long thin bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the white shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the blue top shampoo bottle, place the medium dark brown bottle upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the handheld shampoo container, place the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, route its path away from the bottle with hexagonal blue cap, then set the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle, route it around the bottle with hexagonal blue cap, then stand the narrow-necked bottle upright.",
+    "With the right arm, pick the bottle with white neck and red top up, avoid the blue top shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Take the dark drink bottle with logo up, skirt the handheld shampoo container, and put the dark drink bottle with logo down upright.",
+    "Move the narrow-necked bottle away from the white shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "With the right arm, lift the Coca-Cola bottle, keep it away from the medium-sized white plastic shampoo, place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the bottle with smooth surface, then set the smooth bottle with red lid upright.",
+    "With the right arm, secure the brown bottle with red label, pass around the curved shampoo bottle, and set the brown bottle with red label upright.",
+    "With the right arm, take the hand-sized soda bottle up, steer past the white shampoo bottle, and place the hand-sized soda bottle upright.",
+    "With the right arm, pick up the red-capped bottle, steer away from the shampoo bottle with curved sides, and stand the red-capped bottle up.",
+    "Pick up the narrow-necked bottle, swing wide around the bottle with hexagonal blue cap, and set the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the white and blue shampoo container, then set the smooth bottle with red lid upright.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the curved shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the medium dark brown bottle, pass clear of the medium-sized white plastic shampoo, then place the medium dark brown bottle upright.",
+    "Using the right arm, grasp the brown bottle with red label, move it past the medium-sized white plastic shampoo, then stand the brown bottle with red label up.",
+    "Use the right arm, raise the red-capped bottle, keep distance from the handheld shampoo container, then place the red-capped bottle upright.",
+    "Take the long thin bottle, move it without nearing the curved shampoo bottle, and stand the long thin bottle upright.",
+    "Grab the plastic drink bottle, carry it around the curved shampoo bottle, then stand the plastic drink bottle upright.",
+    "Grab the red-capped bottle, keep it from the white shampoo bottle, and set the red-capped bottle upright.",
+    "Use the right arm to pick the smooth bottle with red lid up, avoid the plastic shampoo with orange label, and place the smooth bottle with red lid upright.",
+    "Guide the right arm to take the hand-sized soda bottle, bypass the plastic shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the bottle with hexagonal blue cap, and stand the dark drink bottle with logo upright.",
+    "With the right arm, take the narrow-necked bottle, avoid the bottle with smooth surface while moving, and set the narrow-necked bottle upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the plastic shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, keep clear of the medium-sized white plastic shampoo, and place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the blue top shampoo bottle, and place the brown bottle with red label upright.",
+    "Use the right arm to grab the long thin bottle, carry it away from the plastic shampoo with orange label, set the long thin bottle upright.",
+    "Use the right arm to lift the Coca-Cola bottle, avoid the plastic shampoo bottle en route, and stand the Coca-Cola bottle up.",
+    "Grab the brown bottle with red label, avoid the handheld shampoo container while moving, then place the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode53.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f9ab7cb80788f4eedf5fd9f856b8596277afcc
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, take the hand-sized soda bottle, avoid the pink-topped shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Pick up the brown bottle with red label, route it around the plastic shampoo container, then stand the brown bottle with red label upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the medium shampoo bottle, set the red-capped bottle upright.",
+    "Using the left arm, pick the plastic drink bottle up, keep clear of the pink-topped shampoo bottle, place the plastic drink bottle upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the smooth white shampoo dispenser, and stand the bottle with white neck and red top upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the smooth white shampoo dispenser, and put the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the pink-topped shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, steer it around the smooth white shampoo dispenser, and place the red-capped bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it from the white shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Move the Coca-Cola bottle away from the shampoo bottle with pink cap as you lift, then place the Coca-Cola bottle upright.",
+    "Take the red-capped bottle, route it away from the shampoo dispenser with flat base, and place the red-capped bottle upright.",
+    "Lift the brown bottle with red label, guide it around the hand-sized shampoo bottle, then stand the brown bottle with red label upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the shampoo dispenser with flat base, then set the long thin bottle upright.",
+    "Guide the left arm to take the bottle with ridges on bottom, bypass the medium shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the hand-sized shampoo bottle, and put the narrow-necked bottle upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the smooth white shampoo dispenser, and place the plastic drink bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the shampoo dispenser with flat base, then set the dark drink bottle with logo upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the shampoo bottle with pink cap, and stand the medium dark brown bottle up.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the smooth white shampoo dispenser, place the Coca-Cola bottle upright.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the white body pink flip cap bottle, and place the brown bottle with red label upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the white shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Grab the bottle with ridges on bottom, carry it around the glossy white shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the pink-topped shampoo bottle, then set the medium dark brown bottle upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the white body pink flip cap bottle while moving, and set the hand-sized soda bottle upright.",
+    "Take the narrow-necked bottle, keep clear of the glossy white shampoo bottle, and place the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, avoid the smooth white shampoo dispenser while moving, then place the medium dark brown bottle upright.",
+    "Move the red-capped bottle from its spot, skirt the oval-shaped shampoo bottle, and stand the red-capped bottle upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the pink-topped shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the plastic shampoo container, then set the hand-sized soda bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the smooth white shampoo dispenser, and stand the smooth bottle with red lid upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the oval-shaped shampoo bottle en route, and stand the Coca-Cola bottle up.",
+    "Grab the red-capped bottle, keep it away from the shampoo dispenser with flat base, and put the red-capped bottle down upright.",
+    "Using the left arm, grasp the plastic drink bottle, move it past the pink-topped shampoo bottle, then stand the plastic drink bottle up.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the white shampoo bottle, then place the Coca-Cola bottle upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the shampoo bottle with pink cap, place the brown bottle with red label upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the pink-topped shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the glossy white shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the plastic shampoo container, and put the hand-sized soda bottle down upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the pink-topped shampoo bottle, place the brown bottle with red label upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the white shampoo bottle, then place the red-capped bottle upright.",
+    "With the left arm, take the red-capped bottle, avoid the shampoo dispenser with flat base while moving, and set the red-capped bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the white shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the pink-topped shampoo bottle, set the hand-sized soda bottle upright.",
+    "Using the left arm, pick the narrow-necked bottle up, keep clear of the shampoo dispenser with flat base, place the narrow-necked bottle upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the hand-sized shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the white shampoo bottle, and put the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the oval-shaped shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, steer it around the shampoo dispenser with flat base, and place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the oval-shaped shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Move the hand-sized soda bottle away from the oval-shaped shampoo bottle as you lift, then place the hand-sized soda bottle upright.",
+    "Take the medium dark brown bottle, route it away from the hand-sized shampoo bottle, and place the medium dark brown bottle upright.",
+    "Lift the red-capped bottle, guide it around the white body pink flip cap bottle, then stand the red-capped bottle upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the white body pink flip cap bottle, then set the bottle with white neck and red top upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the shampoo bottle with pink cap, and place the narrow-necked bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the oval-shaped shampoo bottle, and put the hand-sized soda bottle upright.",
+    "With the left arm, take the Coca-Cola bottle up, steer past the medium oval plastic shampoo container, and place the Coca-Cola bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the white shampoo bottle, then set the dark drink bottle with logo upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the hand-sized shampoo bottle, and stand the medium dark brown bottle up.",
+    "Pick up the bottle with ridges on bottom with the left arm, keep it away from the pink-topped shampoo bottle, place the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the pink-topped shampoo bottle, and place the medium dark brown bottle upright.",
+    "Lift the brown bottle with red label, keep its path away from the glossy white shampoo bottle, and set the brown bottle with red label upright.",
+    "Grab the medium dark brown bottle, carry it around the hand-sized shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle with pink cap, then set the dark drink bottle with logo upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the plastic shampoo container while moving, and set the hand-sized soda bottle upright.",
+    "Take the Coca-Cola bottle, keep clear of the medium oval plastic shampoo container, and place the Coca-Cola bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the medium oval plastic shampoo container while moving, then place the smooth bottle with red lid upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the white shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle, swing wide around the medium oval plastic shampoo container, and set the narrow-necked bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the hand-sized shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Take the narrow-necked bottle, move it without nearing the white body pink flip cap bottle, and stand the narrow-necked bottle upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the pink-topped shampoo bottle en route, and stand the smooth bottle with red lid up.",
+    "Grab the hand-sized soda bottle, keep it away from the glossy white shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the smooth white shampoo dispenser, then stand the red-capped bottle up.",
+    "Use the left arm, raise the smooth bottle with red lid, keep distance from the white body pink flip cap bottle, then place the smooth bottle with red lid upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the shampoo dispenser with flat base, place the dark drink bottle with logo upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the white shampoo bottle, and set the medium dark brown bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the medium oval plastic shampoo container, and place the brown bottle with red label upright.",
+    "Take the Coca-Cola bottle up, skirt the glossy white shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Pick the red-capped bottle up, keep its path clear of the smooth white shampoo dispenser, place the red-capped bottle upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the white body pink flip cap bottle, then place the red-capped bottle upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the shampoo dispenser with flat base while moving, and set the medium dark brown bottle upright.",
+    "Pick up the narrow-necked bottle, route it around the pink-topped shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the pink-topped shampoo bottle, set the Coca-Cola bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the hand-sized shampoo bottle, place the brown bottle with red label upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the shampoo dispenser with flat base, and stand the bottle with ridges on bottom upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the white shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the pink-topped shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, steer it around the shampoo dispenser with flat base, and place the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, keep it from the oval-shaped shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Move the bottle with white neck and red top away from the white body pink flip cap bottle as you lift, then place the bottle with white neck and red top upright.",
+    "Take the bottle with white neck and red top, route it away from the oval-shaped shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Lift the Coca-Cola bottle, guide it around the hand-sized shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the glossy white shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Guide the left arm to take the long thin bottle, bypass the glossy white shampoo bottle, and place the long thin bottle upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the pink-topped shampoo bottle, and put the narrow-necked bottle upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the oval-shaped shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the medium oval plastic shampoo container, then set the bottle with ridges on bottom upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the white shampoo bottle, and stand the medium dark brown bottle up.",
+    "Pick up the bottle with ridges on bottom with the left arm, keep it away from the shampoo dispenser with flat base, place the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the shampoo bottle with pink cap, and place the Coca-Cola bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode54.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..921ba983ef9bbf6da8655f25450fbe7096393b30
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth green bottle, guide it around the white body pink flip cap bottle, then stand the smooth green bottle upright.",
+    "Take the bottle with rounded neck, route it away from the plastic shampoo container, and place the bottle with rounded neck upright.",
+    "Move the medium green bottle with capped neck from its spot, skirt the oval-shaped shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Use the left arm, raise the handheld green bottle, keep distance from the shampoo dispenser with flat base, then place the handheld green bottle upright.",
+    "Grab the bottle with white printed label, move it without crossing the hand-sized shampoo bottle, then place the bottle with white printed label upright.",
+    "With the left arm, secure the green bottle with indented base, pass around the glossy white shampoo bottle, and set the green bottle with indented base upright.",
+    "Lift the bottle with narrow top, route it around the smooth white shampoo dispenser, then set the bottle with narrow top upright.",
+    "Grab the bottle with ridges near base, avoid the plastic shampoo container while moving, then place the bottle with ridges near base upright.",
+    "Grip the handheld green bottle with the left arm, keep distance from the white body pink flip cap bottle, then set the handheld green bottle upright.",
+    "Lift the bottle with narrow top, route its path away from the hand-sized shampoo bottle, then set the bottle with narrow top upright.",
+    "With the left arm, pick the handheld green bottle up, avoid the medium oval plastic shampoo container, and put the handheld green bottle upright.",
+    "Pick up the handheld green bottle with the left arm, keep it away from the smooth white shampoo dispenser, place the handheld green bottle upright.",
+    "Using the left arm, lift the bottle with rounded neck, keep clear of the smooth white shampoo dispenser, and place the bottle with rounded neck upright.",
+    "Using the left arm, lift the medium-sized green bottle, pass clear of the shampoo bottle with pink cap, then place the medium-sized green bottle upright.",
+    "Grab the bottle with white printed label, keep it from the oval-shaped shampoo bottle, and set the bottle with white printed label upright.",
+    "With the left arm, take the green bottle with indented base, pass outside the smooth white shampoo dispenser, and put the green bottle with indented base upright.",
+    "With the left arm, take the handheld green bottle up, steer past the smooth white shampoo dispenser, and place the handheld green bottle upright.",
+    "With the left arm, lift the plastic bottle, keep it away from the glossy white shampoo bottle, place the plastic bottle upright.",
+    "Move the medium green bottle away from the oval-shaped shampoo bottle as you lift, then place the medium green bottle upright.",
+    "Take the bottle with ridges near base, keep clear of the white shampoo bottle, and place the bottle with ridges near base upright.",
+    "Direct the left arm to pick the medium-sized green bottle up, avoid the white body pink flip cap bottle, and stand the medium-sized green bottle upright.",
+    "Using the left arm, pick the bottle with rounded neck up, keep clear of the oval-shaped shampoo bottle, place the bottle with rounded neck upright.",
+    "Use the left arm to grab the bottle with ridges near base, carry it away from the white body pink flip cap bottle, set the bottle with ridges near base upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the white shampoo bottle, then set the bottle with ridges near base upright.",
+    "Pick the handheld green bottle up, keep its path clear of the pink-topped shampoo bottle, place the handheld green bottle upright.",
+    "Use the left arm to lift the bottle with narrow top, avoid the oval-shaped shampoo bottle en route, and stand the bottle with narrow top up.",
+    "Guide the left arm to take the bottle with ridges near base, bypass the shampoo bottle with pink cap, and place the bottle with ridges near base upright.",
+    "With the left arm, take the handheld green bottle, avoid the white body pink flip cap bottle while moving, and set the handheld green bottle upright.",
+    "Using the left arm, grasp the medium-sized green bottle, move it past the white body pink flip cap bottle, then stand the medium-sized green bottle up.",
+    "Take the plastic bottle up, skirt the medium oval plastic shampoo container, and put the plastic bottle down upright.",
+    "Grab the smooth green bottle, carry it around the white shampoo bottle, then stand the smooth green bottle upright.",
+    "With the left arm, pick up the bottle with white printed label, steer away from the plastic shampoo container, and stand the bottle with white printed label up.",
+    "Pick up the medium green bottle, swing wide around the white shampoo bottle, and set the medium green bottle upright.",
+    "Have the left arm grasp the green bottle with indented base, avoid the white shampoo bottle while moving, and set the green bottle with indented base upright.",
+    "Grab the handheld green bottle, steer it around the white shampoo bottle, and place the handheld green bottle upright.",
+    "Pick up the medium green bottle with capped neck, route it around the smooth white shampoo dispenser, then stand the medium green bottle with capped neck upright.",
+    "Lift the medium green bottle with capped neck, keep its path away from the shampoo bottle with pink cap, and set the medium green bottle with capped neck upright.",
+    "Grab the handheld green bottle, keep it away from the hand-sized shampoo bottle, and put the handheld green bottle down upright.",
+    "Use the left arm to pick the bottle with white printed label up, avoid the shampoo bottle with pink cap, and place the bottle with white printed label upright.",
+    "Take the bottle with white printed label, move it without nearing the medium oval plastic shampoo container, and stand the bottle with white printed label upright.",
+    "Lift the smooth green bottle, guide it around the hand-sized shampoo bottle, then stand the smooth green bottle upright.",
+    "Take the bottle with ridges near base, route it away from the shampoo bottle with pink cap, and place the bottle with ridges near base upright.",
+    "Move the bottle with narrow top from its spot, skirt the plastic shampoo container, and stand the bottle with narrow top upright.",
+    "Use the left arm, raise the smooth green plastic bottle, keep distance from the white shampoo bottle, then place the smooth green plastic bottle upright.",
+    "Grab the smooth green bottle, move it without crossing the oval-shaped shampoo bottle, then place the smooth green bottle upright.",
+    "With the left arm, secure the green bottle with indented base, pass around the medium oval plastic shampoo container, and set the green bottle with indented base upright.",
+    "Lift the green bottle with indented base, route it around the glossy white shampoo bottle, then set the green bottle with indented base upright.",
+    "Grab the bottle with white printed label, avoid the smooth white shampoo dispenser while moving, then place the bottle with white printed label upright.",
+    "Grip the smooth green plastic bottle with the left arm, keep distance from the medium oval plastic shampoo container, then set the smooth green plastic bottle upright.",
+    "Lift the plastic bottle, route its path away from the glossy white shampoo bottle, then set the plastic bottle upright.",
+    "With the left arm, pick the smooth green bottle up, avoid the white shampoo bottle, and put the smooth green bottle upright.",
+    "Pick up the plastic bottle with the left arm, keep it away from the oval-shaped shampoo bottle, place the plastic bottle upright.",
+    "Using the left arm, lift the smooth green plastic bottle, keep clear of the smooth white shampoo dispenser, and place the smooth green plastic bottle upright.",
+    "Using the left arm, lift the green bottle with indented base, pass clear of the shampoo dispenser with flat base, then place the green bottle with indented base upright.",
+    "Grab the plastic bottle, keep it from the white shampoo bottle, and set the plastic bottle upright.",
+    "With the left arm, take the green bottle with indented base, pass outside the medium oval plastic shampoo container, and put the green bottle with indented base upright.",
+    "With the left arm, take the handheld green bottle up, steer past the hand-sized shampoo bottle, and place the handheld green bottle upright.",
+    "With the left arm, lift the bottle with rounded neck, keep it away from the medium oval plastic shampoo container, place the bottle with rounded neck upright.",
+    "Move the bottle with ridges near base away from the medium shampoo bottle as you lift, then place the bottle with ridges near base upright.",
+    "Take the bottle with rounded neck, keep clear of the white shampoo bottle, and place the bottle with rounded neck upright.",
+    "Direct the left arm to pick the medium green bottle with capped neck up, avoid the white body pink flip cap bottle, and stand the medium green bottle with capped neck upright.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the medium shampoo bottle, place the bottle with white printed label upright.",
+    "Use the left arm to grab the smooth green plastic bottle, carry it away from the medium shampoo bottle, set the smooth green plastic bottle upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the pink-topped shampoo bottle, then set the bottle with ridges near base upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the oval-shaped shampoo bottle, place the bottle with white printed label upright.",
+    "Use the left arm to lift the bottle with white printed label, avoid the shampoo bottle with pink cap en route, and stand the bottle with white printed label up.",
+    "Guide the left arm to take the medium green bottle, bypass the shampoo bottle with pink cap, and place the medium green bottle upright.",
+    "With the left arm, take the plastic bottle, avoid the hand-sized shampoo bottle while moving, and set the plastic bottle upright.",
+    "Using the left arm, grasp the handheld green bottle, move it past the shampoo dispenser with flat base, then stand the handheld green bottle up.",
+    "Take the medium green bottle up, skirt the white shampoo bottle, and put the medium green bottle down upright.",
+    "Grab the handheld green bottle, carry it around the pink-topped shampoo bottle, then stand the handheld green bottle upright.",
+    "With the left arm, pick up the green bottle with indented base, steer away from the smooth white shampoo dispenser, and stand the green bottle with indented base up.",
+    "Pick up the bottle with rounded neck, swing wide around the smooth white shampoo dispenser, and set the bottle with rounded neck upright.",
+    "Have the left arm grasp the bottle with ridges near base, avoid the oval-shaped shampoo bottle while moving, and set the bottle with ridges near base upright.",
+    "Grab the bottle with narrow top, steer it around the hand-sized shampoo bottle, and place the bottle with narrow top upright.",
+    "Pick up the medium-sized green bottle, route it around the shampoo bottle with pink cap, then stand the medium-sized green bottle upright.",
+    "Lift the medium-sized green bottle, keep its path away from the plastic shampoo container, and set the medium-sized green bottle upright.",
+    "Grab the handheld green bottle, keep it away from the medium oval plastic shampoo container, and put the handheld green bottle down upright.",
+    "Use the left arm to pick the bottle with rounded neck up, avoid the medium oval plastic shampoo container, and place the bottle with rounded neck upright.",
+    "Take the medium green bottle, move it without nearing the oval-shaped shampoo bottle, and stand the medium green bottle upright.",
+    "Lift the green bottle with indented base, guide it around the medium oval plastic shampoo container, then stand the green bottle with indented base upright.",
+    "Take the bottle with ridges near base, route it away from the medium oval plastic shampoo container, and place the bottle with ridges near base upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the pink-topped shampoo bottle, and stand the smooth green plastic bottle upright.",
+    "Use the left arm, raise the medium green bottle, keep distance from the smooth white shampoo dispenser, then place the medium green bottle upright.",
+    "Grab the bottle with rounded neck, move it without crossing the shampoo dispenser with flat base, then place the bottle with rounded neck upright.",
+    "With the left arm, secure the medium green bottle, pass around the hand-sized shampoo bottle, and set the medium green bottle upright.",
+    "Lift the medium-sized green bottle, route it around the hand-sized shampoo bottle, then set the medium-sized green bottle upright.",
+    "Grab the bottle with narrow top, avoid the white shampoo bottle while moving, then place the bottle with narrow top upright.",
+    "Grip the plastic bottle with the left arm, keep distance from the medium shampoo bottle, then set the plastic bottle upright.",
+    "Lift the handheld green bottle, route its path away from the glossy white shampoo bottle, then set the handheld green bottle upright.",
+    "With the left arm, pick the green bottle with indented base up, avoid the white shampoo bottle, and put the green bottle with indented base upright.",
+    "Pick up the smooth green plastic bottle with the left arm, keep it away from the pink-topped shampoo bottle, place the smooth green plastic bottle upright.",
+    "Using the left arm, lift the bottle with ridges near base, keep clear of the glossy white shampoo bottle, and place the bottle with ridges near base upright.",
+    "Using the left arm, lift the medium green bottle, pass clear of the smooth white shampoo dispenser, then place the medium green bottle upright.",
+    "Grab the plastic bottle, keep it from the oval-shaped shampoo bottle, and set the plastic bottle upright.",
+    "With the left arm, take the plastic bottle, pass outside the smooth white shampoo dispenser, and put the plastic bottle upright.",
+    "With the left arm, take the bottle with rounded neck up, steer past the white body pink flip cap bottle, and place the bottle with rounded neck upright.",
+    "With the left arm, lift the bottle with white printed label, keep it away from the hand-sized shampoo bottle, place the bottle with white printed label upright.",
+    "Move the medium green bottle with capped neck away from the pink-topped shampoo bottle as you lift, then place the medium green bottle with capped neck upright.",
+    "Take the green bottle with indented base, keep clear of the hand-sized shampoo bottle, and place the green bottle with indented base upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the Dove shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the Dove shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with Dove logo, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle with Dove logo, and place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the Dove shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the Dove shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the Dove shampoo bottle, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the Dove shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the Dove shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the bottle for holding shampoo, and set the green bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode55.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ca0e5882104e6914b3bda9ce6152a9e47782b3f
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, pick the red-capped bottle up, keep clear of the medium shampoo bottle with pump, place the red-capped bottle upright.",
+    "Use the right arm to grab the Coca-Cola bottle, carry it away from the shampoo with green dispensing pump, set the Coca-Cola bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the yellow container with green pump, then stand the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, keep clear of the yellow shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Grip the hand-sized soda bottle with the right arm, keep distance from the shampoo bottle with handle slot, then set the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, keep it from the yellow shampoo bottle, and set the long thin bottle upright.",
+    "With the right arm, take the bottle with ridges on bottom, pass outside the yellow container with green pump, and put the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, keep it away from the yellow shampoo bottle, and put the long thin bottle down upright.",
+    "Grab the brown bottle with red label, move it without crossing the yellow container with green pump, then place the brown bottle with red label upright.",
+    "Use the right arm to lift the brown bottle with red label, avoid the shampoo bottle with handle slot en route, and stand the brown bottle with red label up.",
+    "Have the right arm grasp the brown bottle with red label, avoid the yellow container with green pump while moving, and set the brown bottle with red label upright.",
+    "Move the narrow-necked bottle away from the hand-sized yellow shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the yellow bottle with green top, and stand the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle, route it away from the plastic shampoo bottle with label, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the medium dark brown bottle, keep clear of the shampoo bottle with rounded body, and place the medium dark brown bottle upright.",
+    "With the right arm, pick up the hand-sized soda bottle, steer away from the medium shampoo bottle with pump, and stand the hand-sized soda bottle up.",
+    "Pick up the bottle with white neck and red top with the right arm, keep it away from the yellow container with green pump, place the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, steer it around the shampoo with green dispensing pump, and place the bottle with white neck and red top upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, pass clear of the shampoo with green dispensing pump, then place the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle up, skirt the shampoo bottle with rounded body, and put the plastic drink bottle down upright.",
+    "Using the right arm, grasp the smooth bottle with red lid, move it past the shampoo with green dispensing pump, then stand the smooth bottle with red lid up.",
+    "With the right arm, pick the plastic drink bottle up, avoid the medium shampoo bottle with pump, and put the plastic drink bottle upright.",
+    "Grab the long thin bottle, avoid the yellow bottle with green top while moving, then place the long thin bottle upright.",
+    "With the right arm, take the bottle with ridges on bottom, avoid the yellow bottle with green top while moving, and set the bottle with ridges on bottom upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the yellow shampoo with cartoon design, and place the dark drink bottle with logo upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the smooth bottle with green top, place the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the yellow shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the smooth bottle with green top, then set the bottle with ridges on bottom upright.",
+    "Lift the dark drink bottle with logo, route it around the shampoo bottle with handle slot, then set the dark drink bottle with logo upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the yellow bottle with green top, and set the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, guide it around the shampoo bottle with rounded body, then stand the narrow-necked bottle upright.",
+    "Direct the right arm to pick the red-capped bottle up, avoid the shampoo bottle with rounded body, and stand the red-capped bottle upright.",
+    "With the right arm, secure the long thin bottle, pass around the yellow shampoo with cartoon design, and set the long thin bottle upright.",
+    "Use the right arm, raise the long thin bottle, keep distance from the plastic shampoo bottle with label, then place the long thin bottle upright.",
+    "Guide the right arm to take the bottle with ridges on bottom, bypass the plastic shampoo bottle with label, and place the bottle with ridges on bottom upright.",
+    "Move the long thin bottle from its spot, skirt the bottle with cartoon label, and stand the long thin bottle upright.",
+    "Lift the Coca-Cola bottle, route its path away from the yellow shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Pick up the plastic drink bottle, route it around the yellow shampoo with cartoon design, then stand the plastic drink bottle upright.",
+    "With the right arm, lift the bottle with white neck and red top, keep it away from the shampoo bottle with handle slot, place the bottle with white neck and red top upright.",
+    "With the right arm, take the dark drink bottle with logo up, steer past the shampoo with green dispensing pump, and place the dark drink bottle with logo upright.",
+    "Using the right arm, pick the bottle with white neck and red top up, keep clear of the yellow container with green pump, place the bottle with white neck and red top upright.",
+    "Use the right arm to grab the Coca-Cola bottle, carry it away from the shampoo bottle with rounded body, set the Coca-Cola bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the bottle with cartoon label, then stand the Coca-Cola bottle upright.",
+    "Take the brown bottle with red label, keep clear of the yellow shampoo with cartoon design, and place the brown bottle with red label upright.",
+    "Grip the hand-sized soda bottle with the right arm, keep distance from the yellow container with green pump, then set the hand-sized soda bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the medium shampoo bottle with pump, and set the smooth bottle with red lid upright.",
+    "With the right arm, take the brown bottle with red label, pass outside the yellow shampoo bottle, and put the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, keep it away from the smooth bottle with green top, and put the Coca-Cola bottle down upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the yellow container with green pump, then place the dark drink bottle with logo upright.",
+    "Use the right arm to lift the narrow-necked bottle, avoid the yellow shampoo with cartoon design en route, and stand the narrow-necked bottle up.",
+    "Have the right arm grasp the hand-sized soda bottle, avoid the yellow container with green pump while moving, and set the hand-sized soda bottle upright.",
+    "Move the medium dark brown bottle away from the plastic shampoo bottle with label as you lift, then place the medium dark brown bottle upright.",
+    "Take the dark drink bottle with logo, move it without nearing the smooth bottle with green top, and stand the dark drink bottle with logo upright.",
+    "Take the red-capped bottle, route it away from the shampoo with green dispensing pump, and place the red-capped bottle upright.",
+    "Using the right arm, lift the plastic drink bottle, keep clear of the medium shampoo bottle with pump, and place the plastic drink bottle upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the yellow shampoo bottle, and stand the Coca-Cola bottle up.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the bottle with cartoon label, place the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, steer it around the hand-sized yellow shampoo bottle, and place the long thin bottle upright.",
+    "Using the right arm, lift the bottle with white neck and red top, pass clear of the medium shampoo bottle with pump, then place the bottle with white neck and red top upright.",
+    "Take the dark drink bottle with logo up, skirt the bottle with cartoon label, and put the dark drink bottle with logo down upright.",
+    "Using the right arm, grasp the dark drink bottle with logo, move it past the bottle with cartoon label, then stand the dark drink bottle with logo up.",
+    "With the right arm, pick the narrow-necked bottle up, avoid the hand-sized yellow shampoo bottle, and put the narrow-necked bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the yellow shampoo with cartoon design while moving, then place the smooth bottle with red lid upright.",
+    "With the right arm, take the bottle with white neck and red top, avoid the yellow bottle with green top while moving, and set the bottle with white neck and red top upright.",
+    "Use the right arm to pick the bottle with ridges on bottom up, avoid the shampoo with green dispensing pump, and place the bottle with ridges on bottom upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the shampoo with green dispensing pump, place the narrow-necked bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the hand-sized yellow shampoo bottle, and set the narrow-necked bottle upright.",
+    "Lift the long thin bottle, keep its path clear of the yellow bottle with green top, then set the long thin bottle upright.",
+    "Lift the plastic drink bottle, route it around the yellow container with green pump, then set the plastic drink bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the hand-sized yellow shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Lift the plastic drink bottle, guide it around the shampoo bottle with rounded body, then stand the plastic drink bottle upright.",
+    "Direct the right arm to pick the long thin bottle up, avoid the yellow shampoo with cartoon design, and stand the long thin bottle upright.",
+    "With the right arm, secure the medium dark brown bottle, pass around the medium shampoo bottle with pump, and set the medium dark brown bottle upright.",
+    "Use the right arm, raise the medium dark brown bottle, keep distance from the bottle with cartoon label, then place the medium dark brown bottle upright.",
+    "Guide the right arm to take the plastic drink bottle, bypass the shampoo bottle with rounded body, and place the plastic drink bottle upright.",
+    "Move the medium dark brown bottle from its spot, skirt the yellow shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the smooth bottle with green top, then set the medium dark brown bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the yellow shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "With the right arm, lift the bottle with ridges on bottom, keep it away from the medium shampoo bottle with pump, place the bottle with ridges on bottom upright.",
+    "With the right arm, take the hand-sized soda bottle up, steer past the hand-sized yellow shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Using the right arm, pick the narrow-necked bottle up, keep clear of the bottle with cartoon label, place the narrow-necked bottle upright.",
+    "Use the right arm to grab the plastic drink bottle, carry it away from the plastic shampoo bottle with label, set the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the plastic shampoo bottle with label, then stand the smooth bottle with red lid upright.",
+    "Take the red-capped bottle, keep clear of the yellow shampoo bottle, and place the red-capped bottle upright.",
+    "Grip the bottle with ridges on bottom with the right arm, keep distance from the shampoo bottle with handle slot, then set the bottle with ridges on bottom upright.",
+    "Grab the smooth bottle with red lid, keep it from the shampoo bottle with rounded body, and set the smooth bottle with red lid upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the yellow shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Grab the red-capped bottle, keep it away from the medium shampoo bottle with pump, and put the red-capped bottle down upright.",
+    "Grab the plastic drink bottle, move it without crossing the shampoo bottle with rounded body, then place the plastic drink bottle upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the medium shampoo bottle with pump en route, and stand the red-capped bottle up.",
+    "Have the right arm grasp the medium dark brown bottle, avoid the smooth bottle with green top while moving, and set the medium dark brown bottle upright.",
+    "Move the bottle with ridges on bottom away from the shampoo with green dispensing pump as you lift, then place the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle, move it without nearing the shampoo bottle with rounded body, and stand the plastic drink bottle upright.",
+    "Take the brown bottle with red label, route it away from the shampoo bottle with rounded body, and place the brown bottle with red label upright.",
+    "Using the right arm, lift the long thin bottle, keep clear of the shampoo with green dispensing pump, and place the long thin bottle upright.",
+    "With the right arm, pick up the hand-sized soda bottle, steer away from the yellow shampoo with cartoon design, and stand the hand-sized soda bottle up.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the smooth bottle with green top, place the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, steer it around the yellow bottle with green top, and place the brown bottle with red label upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, pass clear of the yellow bottle with green top, then place the bottle with ridges on bottom upright.",
+    "Take the smooth bottle with red lid up, skirt the hand-sized yellow shampoo bottle, and put the smooth bottle with red lid down upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode56.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff138ecd297d6b8b789e2c735e5c1f3b54c2e6de
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth bottle with red lid up, skirt the medium pink bottle for shampoo, and put the smooth bottle with red lid down upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the pink shampoo container with pump top, and put the hand-sized soda bottle upright.",
+    "Grab the smooth bottle with red lid, steer it around the pink shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the pink shampoo container with pump top, set the Coca-Cola bottle upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the shampoo bottle with shiny pink body, and stand the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, keep its path clear of the rectangular pink bottle with dispenser, then set the red-capped bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the medium pink bottle for shampoo, then place the brown bottle with red label upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the pink shampoo container with pump top en route, and stand the bottle with white neck and red top up.",
+    "Guide the left arm to take the bottle with ridges on bottom, bypass the smooth pink plastic shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Pick up the red-capped bottle, swing wide around the pink shampoo container with pump top, and set the red-capped bottle upright.",
+    "Grab the long thin bottle, keep it away from the pink bottle with narrow top, and put the long thin bottle down upright.",
+    "Lift the dark drink bottle with logo, route its path away from the pink shampoo container with pump top, then set the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, move it without crossing the rectangular pink bottle with dispenser, then place the medium dark brown bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the shampoo bottle with shiny pink body, and place the bottle with ridges on bottom upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the rectangular pink bottle with dispenser, and stand the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, carry it around the medium pink bottle for shampoo, then stand the long thin bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the medium pink bottle for shampoo, then stand the smooth bottle with red lid upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the smooth pink plastic shampoo bottle, place the narrow-necked bottle upright.",
+    "Lift the red-capped bottle, route it around the smooth pink plastic shampoo bottle, then set the red-capped bottle upright.",
+    "With the left arm, take the brown bottle with red label up, steer past the smooth pink plastic shampoo bottle, and place the brown bottle with red label upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the smooth pink plastic shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the pink bottle with black dispenser, place the brown bottle with red label upright.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the rectangular pink bottle with dispenser, and set the dark drink bottle with logo upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the pink bottle with black dispenser, and stand the long thin bottle up.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the pink shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the smooth pink plastic shampoo bottle, place the dark drink bottle with logo upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the pink shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, avoid the shampoo bottle with rectangular shape while moving, then place the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle, route it away from the shampoo bottle with shiny pink body, and place the narrow-necked bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle with shiny pink body, and set the narrow-necked bottle upright.",
+    "With the left arm, take the plastic drink bottle, avoid the plastic shampoo bottle with black pump while moving, and set the plastic drink bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the medium pink bottle for shampoo, then stand the smooth bottle with red lid up.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the rectangular pink bottle with dispenser, and place the Coca-Cola bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the smooth pink plastic shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, keep it from the pink shampoo bottle, and set the brown bottle with red label upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the pink shampoo container with pump top while moving, and set the medium dark brown bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the smooth pink plastic shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the plastic shampoo bottle with black pump, place the medium dark brown bottle upright.",
+    "Lift the Coca-Cola bottle, guide it around the pink shampoo container with pump top, then stand the Coca-Cola bottle upright.",
+    "Move the red-capped bottle away from the rectangular pink bottle with dispenser as you lift, then place the red-capped bottle upright.",
+    "Take the plastic drink bottle up, skirt the plastic shampoo bottle with black pump, and put the plastic drink bottle down upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the plastic shampoo bottle with black pump, and put the smooth bottle with red lid upright.",
+    "Grab the smooth bottle with red lid, steer it around the smooth pink plastic shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the pink shampoo container with pump top, set the plastic drink bottle upright.",
+    "Move the red-capped bottle from its spot, skirt the shampoo bottle with shiny pink body, and stand the red-capped bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the pink bottle with black dispenser, then set the narrow-necked bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the hand-sized pink shampoo container, then place the dark drink bottle with logo upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the shampoo bottle with rectangular shape en route, and stand the dark drink bottle with logo up.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the hand-sized pink shampoo container, and place the dark drink bottle with logo upright.",
+    "Pick up the plastic drink bottle, swing wide around the pink shampoo bottle, and set the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the medium pink bottle for shampoo, and put the bottle with white neck and red top down upright.",
+    "Lift the bottle with white neck and red top, route its path away from the medium pink bottle for shampoo, then set the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, move it without crossing the pink bottle with black dispenser, then place the medium dark brown bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, keep clear of the smooth pink plastic shampoo bottle, and place the plastic drink bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the pink shampoo bottle, and stand the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the pink bottle with narrow top, then stand the smooth bottle with red lid upright.",
+    "Pick up the bottle with ridges on bottom, route it around the plastic shampoo bottle with black pump, then stand the bottle with ridges on bottom upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the rectangular pink shampoo container, place the medium dark brown bottle upright.",
+    "Lift the red-capped bottle, route it around the pink bottle with black dispenser, then set the red-capped bottle upright.",
+    "With the left arm, take the Coca-Cola bottle up, steer past the hand-sized pink shampoo container, and place the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the pink shampoo container with pump top, and stand the long thin bottle upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the hand-sized pink shampoo container, place the hand-sized soda bottle upright.",
+    "With the left arm, secure the red-capped bottle, pass around the shampoo bottle with shiny pink body, and set the red-capped bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the pink bottle with narrow top, and stand the red-capped bottle up.",
+    "Grip the medium dark brown bottle with the left arm, keep distance from the rectangular pink shampoo container, then set the medium dark brown bottle upright.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the medium pink bottle for shampoo, place the narrow-necked bottle upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the pink bottle with black dispenser, then place the dark drink bottle with logo upright.",
+    "Grab the narrow-necked bottle, avoid the pink shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle, route it away from the pink bottle with narrow top, and place the hand-sized soda bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the pink shampoo bottle, and set the medium dark brown bottle upright.",
+    "With the left arm, take the long thin bottle, avoid the medium pink bottle for shampoo while moving, and set the long thin bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the pink shampoo bottle, then stand the smooth bottle with red lid up.",
+    "Use the left arm to pick the red-capped bottle up, avoid the rectangular pink shampoo container, and place the red-capped bottle upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the pink bottle with black dispenser, and put the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, keep it from the pink bottle with black dispenser, and set the narrow-necked bottle upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the hand-sized pink shampoo container while moving, and set the smooth bottle with red lid upright.",
+    "Take the long thin bottle, keep clear of the rectangular pink shampoo container, and place the long thin bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the smooth pink plastic shampoo bottle, place the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the shampoo bottle with shiny pink body, then stand the medium dark brown bottle upright.",
+    "Move the Coca-Cola bottle away from the shampoo bottle with shiny pink body as you lift, then place the Coca-Cola bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the hand-sized pink shampoo container, and put the hand-sized soda bottle down upright.",
+    "With the left arm, take the medium dark brown bottle, pass outside the pink shampoo bottle, and put the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, steer it around the rectangular pink shampoo container, and place the red-capped bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the rectangular pink bottle with dispenser, set the brown bottle with red label upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the pink bottle with black dispenser, and stand the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the hand-sized pink shampoo container, then set the medium dark brown bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the rectangular pink bottle with dispenser, then place the narrow-necked bottle upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the medium pink bottle for shampoo en route, and stand the bottle with ridges on bottom up.",
+    "Guide the left arm to take the bottle with ridges on bottom, bypass the pink bottle with narrow top, and place the bottle with ridges on bottom upright.",
+    "Pick up the brown bottle with red label, swing wide around the shampoo bottle with shiny pink body, and set the brown bottle with red label upright.",
+    "Grab the smooth bottle with red lid, keep it away from the hand-sized pink shampoo container, and put the smooth bottle with red lid down upright.",
+    "Lift the bottle with white neck and red top, route its path away from the smooth pink plastic shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the medium pink bottle for shampoo, then place the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the shampoo bottle with rectangular shape, and place the red-capped bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the pink shampoo container with pump top, and stand the plastic drink bottle upright.",
+    "Grab the long thin bottle, carry it around the plastic shampoo bottle with black pump, then stand the long thin bottle upright.",
+    "Pick up the long thin bottle, route it around the pink bottle with black dispenser, then stand the long thin bottle upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the pink bottle with narrow top, place the smooth bottle with red lid upright.",
+    "Lift the long thin bottle, route it around the rectangular pink bottle with dispenser, then set the long thin bottle upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the pink bottle with narrow top, and place the bottle with white neck and red top upright."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the plastic pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with black pump, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the glossy pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode57.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..93453b6a28e4d58cd1866fda623c4f100824695f
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Guide the right arm to take the smooth green plastic bottle, bypass the curved shampoo bottle, and place the smooth green plastic bottle upright.",
+    "With the right arm, lift the bottle with white printed label, keep it away from the white shampoo bottle, place the bottle with white printed label upright.",
+    "With the right arm, take the medium green bottle with capped neck, pass outside the blue top shampoo bottle, and put the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top, move it without nearing the bottle with hexagonal blue cap, and stand the bottle with narrow top upright.",
+    "With the right arm, pick the medium-sized green bottle up, avoid the medium-sized white plastic shampoo, and put the medium-sized green bottle upright.",
+    "Grip the green bottle with indented base with the right arm, keep distance from the handheld shampoo container, then set the green bottle with indented base upright.",
+    "Grab the medium-sized green bottle, steer it around the plastic shampoo bottle, and place the medium-sized green bottle upright.",
+    "Move the bottle with narrow top from its spot, skirt the handheld shampoo container, and stand the bottle with narrow top upright.",
+    "Lift the medium-sized green bottle, route its path away from the white shampoo bottle, then set the medium-sized green bottle upright.",
+    "Using the right arm, lift the plastic bottle, keep clear of the shampoo bottle with blue cap, and place the plastic bottle upright.",
+    "Grab the bottle with white printed label, carry it around the handheld shampoo container, then stand the bottle with white printed label upright.",
+    "Pick up the bottle with narrow top with the right arm, keep it away from the curved shampoo bottle, place the bottle with narrow top upright.",
+    "Take the medium green bottle with capped neck, route it away from the shampoo bottle with blue cap, and place the medium green bottle with capped neck upright.",
+    "With the right arm, pick up the smooth green bottle, steer away from the white shampoo bottle, and stand the smooth green bottle up.",
+    "Move the smooth green bottle away from the white shampoo bottle as you lift, then place the smooth green bottle upright.",
+    "Lift the bottle with white printed label, guide it around the plastic shampoo bottle, then stand the bottle with white printed label upright.",
+    "Direct the right arm to pick the medium green bottle with capped neck up, avoid the plastic shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Using the right arm, lift the medium green bottle with capped neck, pass clear of the handheld shampoo container, then place the medium green bottle with capped neck upright.",
+    "Grab the bottle with ridges near base, keep it away from the curved shampoo bottle, and put the bottle with ridges near base down upright.",
+    "Grab the smooth green plastic bottle, avoid the medium-sized white plastic shampoo while moving, then place the smooth green plastic bottle upright.",
+    "Use the right arm to lift the medium green bottle, avoid the handheld shampoo container en route, and stand the medium green bottle up.",
+    "Pick the medium-sized green bottle up, keep its path clear of the plastic shampoo bottle, place the medium-sized green bottle upright.",
+    "With the right arm, take the bottle with narrow top up, steer past the medium-sized white plastic shampoo, and place the bottle with narrow top upright.",
+    "Grab the bottle with ridges near base, keep it from the handheld shampoo container, and set the bottle with ridges near base upright.",
+    "Use the right arm to grab the medium green bottle with capped neck, carry it away from the plastic shampoo with orange label, set the medium green bottle with capped neck upright.",
+    "Lift the bottle with rounded neck, route it around the handheld shampoo container, then set the bottle with rounded neck upright.",
+    "Use the right arm to pick the handheld green bottle up, avoid the shampoo bottle with curved sides, and place the handheld green bottle upright.",
+    "Pick up the plastic bottle, route it around the shampoo bottle with blue cap, then stand the plastic bottle upright.",
+    "Grab the bottle with rounded neck, move it without crossing the shampoo bottle with curved sides, then place the bottle with rounded neck upright.",
+    "Use the right arm, raise the green bottle with indented base, keep distance from the medium-sized white plastic shampoo, then place the green bottle with indented base upright.",
+    "Using the right arm, pick the medium green bottle up, keep clear of the shampoo bottle with curved sides, place the medium green bottle upright.",
+    "Have the right arm grasp the bottle with rounded neck, avoid the bottle with smooth surface while moving, and set the bottle with rounded neck upright.",
+    "With the right arm, take the bottle with ridges near base, avoid the handheld shampoo container while moving, and set the bottle with ridges near base upright.",
+    "Lift the handheld green bottle, keep its path away from the plastic shampoo bottle, and set the handheld green bottle upright.",
+    "Lift the bottle with rounded neck, keep its path clear of the bottle with hexagonal blue cap, then set the bottle with rounded neck upright.",
+    "Take the bottle with ridges near base up, skirt the handheld shampoo container, and put the bottle with ridges near base down upright.",
+    "With the right arm, secure the medium green bottle, pass around the shampoo bottle with blue cap, and set the medium green bottle upright.",
+    "Using the right arm, grasp the medium green bottle, move it past the plastic shampoo with orange label, then stand the medium green bottle up.",
+    "Pick up the medium green bottle with capped neck, swing wide around the plastic shampoo bottle, and set the medium green bottle with capped neck upright.",
+    "Take the plastic bottle, keep clear of the white shampoo bottle, and place the plastic bottle upright.",
+    "Guide the right arm to take the medium green bottle with capped neck, bypass the plastic shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "With the right arm, lift the bottle with narrow top, keep it away from the shampoo bottle with blue cap, place the bottle with narrow top upright.",
+    "With the right arm, take the smooth green plastic bottle, pass outside the shampoo bottle with blue cap, and put the smooth green plastic bottle upright.",
+    "Take the handheld green bottle, move it without nearing the blue top shampoo bottle, and stand the handheld green bottle upright.",
+    "With the right arm, pick the medium-sized green bottle up, avoid the curved shampoo bottle, and put the medium-sized green bottle upright.",
+    "Grip the medium-sized green bottle with the right arm, keep distance from the bottle with smooth surface, then set the medium-sized green bottle upright.",
+    "Grab the medium green bottle with capped neck, steer it around the handheld shampoo container, and place the medium green bottle with capped neck upright.",
+    "Move the medium green bottle from its spot, skirt the medium-sized white plastic shampoo, and stand the medium green bottle upright.",
+    "Lift the medium-sized green bottle, route its path away from the white shampoo bottle, then set the medium-sized green bottle upright.",
+    "Using the right arm, lift the medium green bottle with capped neck, keep clear of the plastic shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "Grab the bottle with rounded neck, carry it around the medium-sized white plastic shampoo, then stand the bottle with rounded neck upright.",
+    "Pick up the bottle with rounded neck with the right arm, keep it away from the handheld shampoo container, place the bottle with rounded neck upright.",
+    "Take the green bottle with indented base, route it away from the medium-sized white plastic shampoo, and place the green bottle with indented base upright.",
+    "With the right arm, pick up the handheld green bottle, steer away from the handheld shampoo container, and stand the handheld green bottle up.",
+    "Move the smooth green bottle away from the handheld shampoo container as you lift, then place the smooth green bottle upright.",
+    "Lift the plastic bottle, guide it around the plastic shampoo with orange label, then stand the plastic bottle upright.",
+    "Direct the right arm to pick the handheld green bottle up, avoid the blue top shampoo bottle, and stand the handheld green bottle upright.",
+    "Using the right arm, lift the green bottle with indented base, pass clear of the bottle with hexagonal blue cap, then place the green bottle with indented base upright.",
+    "Grab the medium-sized green bottle, keep it away from the bottle with smooth surface, and put the medium-sized green bottle down upright.",
+    "Grab the smooth green plastic bottle, avoid the white shampoo bottle while moving, then place the smooth green plastic bottle upright.",
+    "Use the right arm to lift the medium-sized green bottle, avoid the bottle with smooth surface en route, and stand the medium-sized green bottle up.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the white shampoo bottle, place the smooth green plastic bottle upright.",
+    "With the right arm, take the bottle with ridges near base up, steer past the white shampoo bottle, and place the bottle with ridges near base upright.",
+    "Grab the handheld green bottle, keep it from the plastic shampoo bottle, and set the handheld green bottle upright.",
+    "Use the right arm to grab the bottle with white printed label, carry it away from the bottle with hexagonal blue cap, set the bottle with white printed label upright.",
+    "Lift the smooth green plastic bottle, route it around the shampoo bottle with blue cap, then set the smooth green plastic bottle upright.",
+    "Use the right arm to pick the handheld green bottle up, avoid the plastic shampoo with orange label, and place the handheld green bottle upright.",
+    "Pick up the bottle with rounded neck, route it around the handheld shampoo container, then stand the bottle with rounded neck upright.",
+    "Grab the medium green bottle with capped neck, move it without crossing the handheld shampoo container, then place the medium green bottle with capped neck upright.",
+    "Use the right arm, raise the bottle with ridges near base, keep distance from the handheld shampoo container, then place the bottle with ridges near base upright.",
+    "Using the right arm, pick the medium green bottle up, keep clear of the plastic shampoo bottle, place the medium green bottle upright.",
+    "Have the right arm grasp the smooth green plastic bottle, avoid the plastic shampoo bottle while moving, and set the smooth green plastic bottle upright.",
+    "With the right arm, take the smooth green plastic bottle, avoid the white and blue shampoo container while moving, and set the smooth green plastic bottle upright.",
+    "Lift the plastic bottle, keep its path away from the shampoo bottle with blue cap, and set the plastic bottle upright.",
+    "Lift the bottle with white printed label, keep its path clear of the handheld shampoo container, then set the bottle with white printed label upright.",
+    "Take the bottle with narrow top up, skirt the shampoo bottle with curved sides, and put the bottle with narrow top down upright.",
+    "With the right arm, secure the smooth green plastic bottle, pass around the plastic shampoo bottle, and set the smooth green plastic bottle upright.",
+    "Using the right arm, grasp the bottle with ridges near base, move it past the bottle with smooth surface, then stand the bottle with ridges near base up.",
+    "Pick up the handheld green bottle, swing wide around the bottle with smooth surface, and set the handheld green bottle upright.",
+    "Take the bottle with ridges near base, keep clear of the white shampoo bottle, and place the bottle with ridges near base upright.",
+    "Guide the right arm to take the smooth green plastic bottle, bypass the bottle with hexagonal blue cap, and place the smooth green plastic bottle upright.",
+    "With the right arm, lift the plastic bottle, keep it away from the white and blue shampoo container, place the plastic bottle upright.",
+    "With the right arm, take the smooth green bottle, pass outside the curved shampoo bottle, and put the smooth green bottle upright.",
+    "Take the smooth green plastic bottle, move it without nearing the blue top shampoo bottle, and stand the smooth green plastic bottle upright.",
+    "With the right arm, pick the plastic bottle up, avoid the handheld shampoo container, and put the plastic bottle upright.",
+    "Grip the bottle with narrow top with the right arm, keep distance from the white and blue shampoo container, then set the bottle with narrow top upright.",
+    "Grab the medium green bottle, steer it around the shampoo bottle with curved sides, and place the medium green bottle upright.",
+    "Move the bottle with ridges near base from its spot, skirt the medium-sized white plastic shampoo, and stand the bottle with ridges near base upright.",
+    "Lift the green bottle with indented base, route its path away from the white and blue shampoo container, then set the green bottle with indented base upright.",
+    "Using the right arm, lift the bottle with rounded neck, keep clear of the shampoo bottle with blue cap, and place the bottle with rounded neck upright.",
+    "Grab the medium green bottle, carry it around the plastic shampoo bottle, then stand the medium green bottle upright.",
+    "Pick up the green bottle with indented base with the right arm, keep it away from the bottle with hexagonal blue cap, place the green bottle with indented base upright.",
+    "Take the bottle with narrow top, route it away from the shampoo bottle with curved sides, and place the bottle with narrow top upright.",
+    "With the right arm, pick up the bottle with ridges near base, steer away from the shampoo bottle with blue cap, and stand the bottle with ridges near base up.",
+    "Move the plastic bottle away from the white shampoo bottle as you lift, then place the plastic bottle upright.",
+    "Lift the bottle with narrow top, guide it around the handheld shampoo container, then stand the bottle with narrow top upright.",
+    "Direct the right arm to pick the smooth green plastic bottle up, avoid the curved shampoo bottle, and stand the smooth green plastic bottle upright.",
+    "Using the right arm, lift the smooth green bottle, pass clear of the plastic shampoo bottle, then place the smooth green bottle upright.",
+    "Grab the medium-sized green bottle, keep it away from the plastic shampoo with orange label, and put the medium-sized green bottle down upright.",
+    "Grab the medium green bottle with capped neck, avoid the shampoo bottle with curved sides while moving, then place the medium green bottle with capped neck upright."
+  ],
+  "unseen": [
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the blue-capped shampoo bottle, and place the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the blue-capped shampoo bottle, and place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the green bottle, carry it clear of the white shampoo with orange design, then set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, then set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode58.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3fbe47dca912d1ecd6a512e839de6995ea28e4a
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hand-sized soda bottle, route its path away from the white body pink flip cap bottle, then set the hand-sized soda bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the white shampoo bottle, and set the plastic drink bottle upright.",
+    "Take the red-capped bottle, keep clear of the medium shampoo bottle, and place the red-capped bottle upright.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the medium oval plastic shampoo container, and set the dark drink bottle with logo upright.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the medium oval plastic shampoo container, and place the Coca-Cola bottle upright.",
+    "Grab the narrow-necked bottle, carry it around the shampoo dispenser with flat base, then stand the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle, route it away from the oval-shaped shampoo bottle, and place the narrow-necked bottle upright.",
+    "Lift the long thin bottle, keep its path clear of the smooth white shampoo dispenser, then set the long thin bottle upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the plastic shampoo container, then stand the dark drink bottle with logo up.",
+    "Grab the plastic drink bottle, avoid the pink-topped shampoo bottle while moving, then place the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the plastic shampoo container, then place the Coca-Cola bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the white shampoo bottle, and put the long thin bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the hand-sized shampoo bottle, place the hand-sized soda bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the medium shampoo bottle, and place the medium dark brown bottle upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the white body pink flip cap bottle, place the smooth bottle with red lid upright.",
+    "Pick up the hand-sized soda bottle, route it around the medium shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Use the left arm, raise the brown bottle with red label, keep distance from the smooth white shampoo dispenser, then place the brown bottle with red label upright.",
+    "Lift the hand-sized soda bottle, guide it around the medium oval plastic shampoo container, then stand the hand-sized soda bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the shampoo dispenser with flat base while moving, and set the bottle with ridges on bottom upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the medium oval plastic shampoo container, then set the long thin bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the medium oval plastic shampoo container, then place the brown bottle with red label upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the glossy white shampoo bottle, and stand the brown bottle with red label up.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the pink-topped shampoo bottle en route, and stand the smooth bottle with red lid up.",
+    "Move the hand-sized soda bottle away from the plastic shampoo container as you lift, then place the hand-sized soda bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the pink-topped shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Take the bottle with ridges on bottom up, skirt the pink-topped shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the pink-topped shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Grab the red-capped bottle, keep it away from the plastic shampoo container, and put the red-capped bottle down upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the white shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the shampoo dispenser with flat base, set the bottle with white neck and red top upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the shampoo dispenser with flat base, and place the plastic drink bottle upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the glossy white shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the white shampoo bottle while moving, and set the narrow-necked bottle upright.",
+    "Take the medium dark brown bottle, move it without nearing the smooth white shampoo dispenser, and stand the medium dark brown bottle upright.",
+    "Grab the narrow-necked bottle, keep it from the smooth white shampoo dispenser, and set the narrow-necked bottle upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the white shampoo bottle, place the dark drink bottle with logo upright.",
+    "Lift the plastic drink bottle, route it around the white body pink flip cap bottle, then set the plastic drink bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the white body pink flip cap bottle, and stand the Coca-Cola bottle upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the white body pink flip cap bottle, place the smooth bottle with red lid upright.",
+    "Pick up the narrow-necked bottle, swing wide around the glossy white shampoo bottle, and set the narrow-necked bottle upright.",
+    "Lift the red-capped bottle, route its path away from the hand-sized shampoo bottle, then set the red-capped bottle upright.",
+    "Lift the red-capped bottle, keep its path away from the hand-sized shampoo bottle, and set the red-capped bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the shampoo bottle with pink cap, and place the hand-sized soda bottle upright.",
+    "With the left arm, secure the narrow-necked bottle, pass around the plastic shampoo container, and set the narrow-necked bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the glossy white shampoo bottle, and place the long thin bottle upright.",
+    "Grab the plastic drink bottle, carry it around the shampoo bottle with pink cap, then stand the plastic drink bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the plastic shampoo container, and place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the oval-shaped shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the medium oval plastic shampoo container, then stand the brown bottle with red label up.",
+    "Grab the medium dark brown bottle, avoid the plastic shampoo container while moving, then place the medium dark brown bottle upright.",
+    "Grab the long thin bottle, move it without crossing the shampoo bottle with pink cap, then place the long thin bottle upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the glossy white shampoo bottle, and put the brown bottle with red label upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle with pink cap, place the bottle with ridges on bottom upright.",
+    "Grab the narrow-necked bottle, steer it around the oval-shaped shampoo bottle, and place the narrow-necked bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the medium shampoo bottle, place the bottle with white neck and red top upright.",
+    "Pick up the bottle with ridges on bottom, route it around the oval-shaped shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the glossy white shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the shampoo bottle with pink cap, then stand the dark drink bottle with logo upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo dispenser with flat base while moving, and set the narrow-necked bottle upright.",
+    "Grip the dark drink bottle with logo with the left arm, keep distance from the shampoo dispenser with flat base, then set the dark drink bottle with logo upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the white shampoo bottle, then place the medium dark brown bottle upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the plastic shampoo container, and stand the brown bottle with red label up.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the glossy white shampoo bottle en route, and stand the bottle with ridges on bottom up.",
+    "Move the plastic drink bottle away from the pink-topped shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the shampoo bottle with pink cap, and put the plastic drink bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the plastic shampoo container, and put the dark drink bottle with logo down upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the white shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, keep it away from the shampoo bottle with pink cap, and put the long thin bottle down upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the shampoo bottle with pink cap, and place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the medium oval plastic shampoo container, set the bottle with white neck and red top upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the white shampoo bottle, and place the medium dark brown bottle upright.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the shampoo dispenser with flat base, and place the medium dark brown bottle upright.",
+    "Have the left arm grasp the Coca-Cola bottle, avoid the smooth white shampoo dispenser while moving, and set the Coca-Cola bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the oval-shaped shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Grab the smooth bottle with red lid, keep it from the shampoo bottle with pink cap, and set the smooth bottle with red lid upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the plastic shampoo container, place the long thin bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the medium shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Move the medium dark brown bottle from its spot, skirt the hand-sized shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Pick the red-capped bottle up, keep its path clear of the oval-shaped shampoo bottle, place the red-capped bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the pink-topped shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the shampoo dispenser with flat base, then set the medium dark brown bottle upright.",
+    "Lift the long thin bottle, keep its path away from the white body pink flip cap bottle, and set the long thin bottle upright.",
+    "Take the brown bottle with red label, keep clear of the oval-shaped shampoo bottle, and place the brown bottle with red label upright.",
+    "With the left arm, secure the long thin bottle, pass around the oval-shaped shampoo bottle, and set the long thin bottle upright.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the hand-sized shampoo bottle, and place the brown bottle with red label upright.",
+    "Grab the long thin bottle, carry it around the shampoo bottle with pink cap, then stand the long thin bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the medium oval plastic shampoo container, and place the Coca-Cola bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the shampoo dispenser with flat base, then set the red-capped bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the glossy white shampoo bottle, then stand the red-capped bottle up.",
+    "Grab the red-capped bottle, avoid the white shampoo bottle while moving, then place the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the medium shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the smooth white shampoo dispenser, and put the bottle with white neck and red top upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the smooth white shampoo dispenser, place the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, steer it around the medium shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the plastic shampoo container, place the Coca-Cola bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the white shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the hand-sized shampoo bottle, then place the narrow-necked bottle upright.",
+    "Lift the Coca-Cola bottle, guide it around the white shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, avoid the plastic shampoo container while moving, and set the dark drink bottle with logo upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the white body pink flip cap bottle, then set the narrow-necked bottle upright."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode59.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..d135ca485e79e7dae0e0f100baef774ca8316fcc
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red-capped bottle, keep its path away from the shampoo bottle with handle slot, and set the red-capped bottle upright.",
+    "Direct the right arm to pick the medium dark brown bottle up, avoid the plastic shampoo bottle with label, and stand the medium dark brown bottle upright.",
+    "Use the right arm, raise the hand-sized soda bottle, keep distance from the shampoo bottle with rounded body, then place the hand-sized soda bottle upright.",
+    "With the right arm, take the red-capped bottle, avoid the hand-sized yellow shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Guide the right arm to take the dark drink bottle with logo, bypass the yellow shampoo with cartoon design, and place the dark drink bottle with logo upright.",
+    "With the right arm, lift the brown bottle with red label, keep it away from the yellow container with green pump, place the brown bottle with red label upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the plastic shampoo bottle with label, and place the dark drink bottle with logo upright.",
+    "With the right arm, take the brown bottle with red label, pass outside the yellow bottle with green top, and put the brown bottle with red label upright.",
+    "Lift the long thin bottle, guide it around the hand-sized yellow shampoo bottle, then stand the long thin bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the shampoo bottle with rounded body, and put the bottle with ridges on bottom down upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the plastic shampoo bottle with label, place the hand-sized soda bottle upright.",
+    "Use the right arm to lift the plastic drink bottle, avoid the yellow shampoo with cartoon design en route, and stand the plastic drink bottle up.",
+    "Grab the medium dark brown bottle, carry it around the yellow container with green pump, then stand the medium dark brown bottle upright.",
+    "With the right arm, pick up the bottle with white neck and red top, steer away from the smooth bottle with green top, and stand the bottle with white neck and red top up.",
+    "Move the narrow-necked bottle from its spot, skirt the smooth bottle with green top, and stand the narrow-necked bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the yellow shampoo with cartoon design, and place the dark drink bottle with logo upright.",
+    "Move the brown bottle with red label away from the shampoo with green dispensing pump as you lift, then place the brown bottle with red label upright.",
+    "Take the Coca-Cola bottle up, skirt the bottle with cartoon label, and put the Coca-Cola bottle down upright.",
+    "Using the right arm, pick the bottle with ridges on bottom up, keep clear of the shampoo bottle with rounded body, place the bottle with ridges on bottom upright.",
+    "Grab the bottle with white neck and red top, steer it around the shampoo bottle with rounded body, and place the bottle with white neck and red top upright.",
+    "Lift the bottle with ridges on bottom, route it around the yellow bottle with green top, then set the bottle with ridges on bottom upright.",
+    "Take the brown bottle with red label, route it away from the hand-sized yellow shampoo bottle, and place the brown bottle with red label upright.",
+    "Use the right arm to grab the medium dark brown bottle, carry it away from the smooth bottle with green top, set the medium dark brown bottle upright.",
+    "Using the right arm, lift the medium dark brown bottle, pass clear of the shampoo with green dispensing pump, then place the medium dark brown bottle upright.",
+    "With the right arm, secure the plastic drink bottle, pass around the bottle with cartoon label, and set the plastic drink bottle upright.",
+    "With the right arm, pick the narrow-necked bottle up, avoid the shampoo with green dispensing pump, and put the narrow-necked bottle upright.",
+    "Have the right arm grasp the medium dark brown bottle, avoid the yellow container with green pump while moving, and set the medium dark brown bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the shampoo bottle with handle slot, then set the bottle with ridges on bottom upright.",
+    "Pick up the red-capped bottle, route it around the shampoo bottle with handle slot, then stand the red-capped bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the bottle with cartoon label, and set the red-capped bottle upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the hand-sized yellow shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the long thin bottle, keep it from the yellow shampoo bottle, and set the long thin bottle upright.",
+    "Take the medium dark brown bottle, move it without nearing the medium shampoo bottle with pump, and stand the medium dark brown bottle upright.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the shampoo with green dispensing pump, then set the plastic drink bottle upright.",
+    "Grab the red-capped bottle, avoid the smooth bottle with green top while moving, then place the red-capped bottle upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle with rounded body, then set the hand-sized soda bottle upright.",
+    "Grab the red-capped bottle, move it without crossing the shampoo with green dispensing pump, then place the red-capped bottle upright.",
+    "Pick up the Coca-Cola bottle with the right arm, keep it away from the yellow bottle with green top, place the Coca-Cola bottle upright.",
+    "With the right arm, take the Coca-Cola bottle up, steer past the shampoo with green dispensing pump, and place the Coca-Cola bottle upright.",
+    "Using the right arm, grasp the brown bottle with red label, move it past the bottle with cartoon label, then stand the brown bottle with red label up.",
+    "Lift the Coca-Cola bottle, keep its path away from the shampoo bottle with rounded body, and set the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the long thin bottle up, avoid the bottle with cartoon label, and stand the long thin bottle upright.",
+    "Use the right arm, raise the hand-sized soda bottle, keep distance from the shampoo bottle with handle slot, then place the hand-sized soda bottle upright.",
+    "With the right arm, take the plastic drink bottle, avoid the shampoo bottle with handle slot while moving, and set the plastic drink bottle upright.",
+    "Guide the right arm to take the plastic drink bottle, bypass the yellow shampoo with cartoon design, and place the plastic drink bottle upright.",
+    "With the right arm, lift the narrow-necked bottle, keep it away from the plastic shampoo bottle with label, place the narrow-necked bottle upright.",
+    "Use the right arm to pick the narrow-necked bottle up, avoid the bottle with cartoon label, and place the narrow-necked bottle upright.",
+    "With the right arm, take the smooth bottle with red lid, pass outside the yellow shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Lift the red-capped bottle, guide it around the smooth bottle with green top, then stand the red-capped bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the plastic shampoo bottle with label, and put the bottle with white neck and red top down upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the hand-sized yellow shampoo bottle, place the Coca-Cola bottle upright.",
+    "Use the right arm to lift the Coca-Cola bottle, avoid the medium shampoo bottle with pump en route, and stand the Coca-Cola bottle up.",
+    "Grab the plastic drink bottle, carry it around the hand-sized yellow shampoo bottle, then stand the plastic drink bottle upright.",
+    "With the right arm, pick up the narrow-necked bottle, steer away from the medium shampoo bottle with pump, and stand the narrow-necked bottle up.",
+    "Move the plastic drink bottle from its spot, skirt the medium shampoo bottle with pump, and stand the plastic drink bottle upright.",
+    "Take the brown bottle with red label, keep clear of the shampoo bottle with handle slot, and place the brown bottle with red label upright.",
+    "Move the plastic drink bottle away from the shampoo bottle with rounded body as you lift, then place the plastic drink bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the smooth bottle with green top, and put the bottle with ridges on bottom down upright.",
+    "Using the right arm, pick the bottle with ridges on bottom up, keep clear of the smooth bottle with green top, place the bottle with ridges on bottom upright.",
+    "Grab the bottle with ridges on bottom, steer it around the yellow shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Lift the dark drink bottle with logo, route it around the plastic shampoo bottle with label, then set the dark drink bottle with logo upright.",
+    "Take the medium dark brown bottle, route it away from the medium shampoo bottle with pump, and place the medium dark brown bottle upright.",
+    "Use the right arm to grab the brown bottle with red label, carry it away from the plastic shampoo bottle with label, set the brown bottle with red label upright.",
+    "Using the right arm, lift the plastic drink bottle, pass clear of the shampoo with green dispensing pump, then place the plastic drink bottle upright.",
+    "With the right arm, secure the smooth bottle with red lid, pass around the plastic shampoo bottle with label, and set the smooth bottle with red lid upright.",
+    "With the right arm, pick the hand-sized soda bottle up, avoid the shampoo bottle with handle slot, and put the hand-sized soda bottle upright.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the yellow shampoo with cartoon design while moving, and set the bottle with ridges on bottom upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the yellow shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Pick up the red-capped bottle, route it around the bottle with cartoon label, then stand the red-capped bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the shampoo bottle with rounded body, and set the hand-sized soda bottle upright.",
+    "Using the right arm, lift the dark drink bottle with logo, keep clear of the yellow shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, keep it from the shampoo bottle with handle slot, and set the red-capped bottle upright.",
+    "Take the bottle with white neck and red top, move it without nearing the shampoo bottle with rounded body, and stand the bottle with white neck and red top upright.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the plastic shampoo bottle with label, then set the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the yellow shampoo bottle while moving, then place the smooth bottle with red lid upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the yellow bottle with green top, then set the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, move it without crossing the bottle with cartoon label, then place the long thin bottle upright.",
+    "Pick up the bottle with white neck and red top with the right arm, keep it away from the yellow container with green pump, place the bottle with white neck and red top upright.",
+    "With the right arm, take the narrow-necked bottle up, steer past the hand-sized yellow shampoo bottle, and place the narrow-necked bottle upright.",
+    "Using the right arm, grasp the medium dark brown bottle, move it past the yellow shampoo with cartoon design, then stand the medium dark brown bottle up.",
+    "Lift the brown bottle with red label, keep its path away from the shampoo with green dispensing pump, and set the brown bottle with red label upright.",
+    "Direct the right arm to pick the bottle with white neck and red top up, avoid the shampoo bottle with rounded body, and stand the bottle with white neck and red top upright.",
+    "Use the right arm, raise the bottle with ridges on bottom, keep distance from the shampoo bottle with handle slot, then place the bottle with ridges on bottom upright.",
+    "With the right arm, take the plastic drink bottle, avoid the shampoo with green dispensing pump while moving, and set the plastic drink bottle upright.",
+    "Guide the right arm to take the long thin bottle, bypass the shampoo with green dispensing pump, and place the long thin bottle upright.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the shampoo bottle with rounded body, place the dark drink bottle with logo upright.",
+    "Use the right arm to pick the brown bottle with red label up, avoid the medium shampoo bottle with pump, and place the brown bottle with red label upright.",
+    "With the right arm, take the smooth bottle with red lid, pass outside the hand-sized yellow shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, guide it around the smooth bottle with green top, then stand the Coca-Cola bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo with green dispensing pump, and put the dark drink bottle with logo down upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the bottle with cartoon label, place the brown bottle with red label upright.",
+    "Use the right arm to lift the Coca-Cola bottle, avoid the hand-sized yellow shampoo bottle en route, and stand the Coca-Cola bottle up.",
+    "Grab the smooth bottle with red lid, carry it around the smooth bottle with green top, then stand the smooth bottle with red lid upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the yellow container with green pump, and stand the dark drink bottle with logo up.",
+    "Move the narrow-necked bottle from its spot, skirt the yellow container with green pump, and stand the narrow-necked bottle upright.",
+    "Take the long thin bottle, keep clear of the yellow bottle with green top, and place the long thin bottle upright.",
+    "Move the long thin bottle away from the yellow shampoo with cartoon design as you lift, then place the long thin bottle upright.",
+    "Take the narrow-necked bottle up, skirt the shampoo bottle with rounded body, and put the narrow-necked bottle down upright.",
+    "Using the right arm, pick the long thin bottle up, keep clear of the shampoo bottle with rounded body, place the long thin bottle upright.",
+    "Grab the red-capped bottle, steer it around the yellow shampoo bottle, and place the red-capped bottle upright."
+  ],
+  "unseen": [
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode6.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c6453fdca7cbc71ce7e0d62fe1ba13174b31c10
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the green bottle with indented base, route it around the white shampoo bottle, then set the green bottle with indented base upright.",
+    "Take the medium green bottle, move it without nearing the shampoo bottle with curved sides, and stand the medium green bottle upright.",
+    "Pick up the medium-sized green bottle with the right arm, keep it away from the curved shampoo bottle, place the medium-sized green bottle upright.",
+    "Using the right arm, lift the handheld green bottle, keep clear of the curved shampoo bottle, and place the handheld green bottle upright.",
+    "Grip the bottle with rounded neck with the right arm, keep distance from the bottle with hexagonal blue cap, then set the bottle with rounded neck upright.",
+    "Pick up the green bottle with indented base, route it around the plastic shampoo with orange label, then stand the green bottle with indented base upright.",
+    "Using the right arm, pick the green bottle with indented base up, keep clear of the plastic shampoo bottle, place the green bottle with indented base upright.",
+    "Guide the right arm to take the bottle with white printed label, bypass the plastic shampoo bottle, and place the bottle with white printed label upright.",
+    "Lift the bottle with rounded neck, guide it around the curved shampoo bottle, then stand the bottle with rounded neck upright.",
+    "Use the right arm to pick the bottle with ridges near base up, avoid the shampoo bottle with curved sides, and place the bottle with ridges near base upright.",
+    "With the right arm, lift the medium green bottle with capped neck, keep it away from the curved shampoo bottle, place the medium green bottle with capped neck upright.",
+    "Using the right arm, grasp the plastic bottle, move it past the medium-sized white plastic shampoo, then stand the plastic bottle up.",
+    "Grab the medium-sized green bottle, keep it away from the bottle with smooth surface, and put the medium-sized green bottle down upright.",
+    "With the right arm, take the smooth green bottle up, steer past the plastic shampoo bottle, and place the smooth green bottle upright.",
+    "Grab the medium green bottle, steer it around the plastic shampoo with orange label, and place the medium green bottle upright.",
+    "Lift the smooth green bottle, keep its path clear of the shampoo bottle with curved sides, then set the smooth green bottle upright.",
+    "Use the right arm to grab the medium green bottle with capped neck, carry it away from the curved shampoo bottle, set the medium green bottle with capped neck upright.",
+    "With the right arm, pick up the smooth green plastic bottle, steer away from the plastic shampoo bottle, and stand the smooth green plastic bottle up.",
+    "Using the right arm, lift the bottle with rounded neck, pass clear of the plastic shampoo bottle, then place the bottle with rounded neck upright.",
+    "Use the right arm, raise the handheld green bottle, keep distance from the curved shampoo bottle, then place the handheld green bottle upright.",
+    "Grab the handheld green bottle, carry it around the bottle with hexagonal blue cap, then stand the handheld green bottle upright.",
+    "Use the right arm to lift the green bottle with indented base, avoid the blue top shampoo bottle en route, and stand the green bottle with indented base up.",
+    "Grab the bottle with ridges near base, keep it from the shampoo bottle with blue cap, and set the bottle with ridges near base upright.",
+    "Pick up the medium-sized green bottle, swing wide around the bottle with hexagonal blue cap, and set the medium-sized green bottle upright.",
+    "Grab the medium green bottle with capped neck, move it without crossing the curved shampoo bottle, then place the medium green bottle with capped neck upright.",
+    "With the right arm, secure the bottle with ridges near base, pass around the shampoo bottle with curved sides, and set the bottle with ridges near base upright.",
+    "Lift the handheld green bottle, keep its path away from the bottle with smooth surface, and set the handheld green bottle upright.",
+    "With the right arm, pick the handheld green bottle up, avoid the white and blue shampoo container, and put the handheld green bottle upright.",
+    "Lift the smooth green plastic bottle, route its path away from the curved shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Direct the right arm to pick the medium green bottle with capped neck up, avoid the shampoo bottle with blue cap, and stand the medium green bottle with capped neck upright.",
+    "Have the right arm grasp the plastic bottle, avoid the bottle with hexagonal blue cap while moving, and set the plastic bottle upright.",
+    "Take the smooth green bottle, keep clear of the handheld shampoo container, and place the smooth green bottle upright.",
+    "Take the plastic bottle up, skirt the bottle with smooth surface, and put the plastic bottle down upright.",
+    "Take the handheld green bottle, route it away from the plastic shampoo with orange label, and place the handheld green bottle upright.",
+    "Pick the medium green bottle with capped neck up, keep its path clear of the white and blue shampoo container, place the medium green bottle with capped neck upright.",
+    "With the right arm, take the bottle with white printed label, avoid the shampoo bottle with blue cap while moving, and set the bottle with white printed label upright.",
+    "Grab the smooth green bottle, avoid the shampoo bottle with blue cap while moving, then place the smooth green bottle upright.",
+    "Move the plastic bottle away from the white and blue shampoo container as you lift, then place the plastic bottle upright.",
+    "Move the medium green bottle with capped neck from its spot, skirt the curved shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "With the right arm, take the bottle with rounded neck, pass outside the plastic shampoo with orange label, and put the bottle with rounded neck upright.",
+    "Lift the plastic bottle, route it around the handheld shampoo container, then set the plastic bottle upright.",
+    "Take the bottle with rounded neck, move it without nearing the blue top shampoo bottle, and stand the bottle with rounded neck upright.",
+    "Pick up the green bottle with indented base with the right arm, keep it away from the shampoo bottle with curved sides, place the green bottle with indented base upright.",
+    "Using the right arm, lift the plastic bottle, keep clear of the white and blue shampoo container, and place the plastic bottle upright.",
+    "Grip the handheld green bottle with the right arm, keep distance from the curved shampoo bottle, then set the handheld green bottle upright.",
+    "Pick up the bottle with ridges near base, route it around the bottle with smooth surface, then stand the bottle with ridges near base upright.",
+    "Using the right arm, pick the medium green bottle up, keep clear of the bottle with hexagonal blue cap, place the medium green bottle upright.",
+    "Guide the right arm to take the medium-sized green bottle, bypass the white and blue shampoo container, and place the medium-sized green bottle upright.",
+    "Lift the medium-sized green bottle, guide it around the shampoo bottle with blue cap, then stand the medium-sized green bottle upright.",
+    "Use the right arm to pick the medium green bottle up, avoid the shampoo bottle with curved sides, and place the medium green bottle upright.",
+    "With the right arm, lift the medium-sized green bottle, keep it away from the bottle with smooth surface, place the medium-sized green bottle upright.",
+    "Using the right arm, grasp the smooth green plastic bottle, move it past the plastic shampoo bottle, then stand the smooth green plastic bottle up.",
+    "Grab the handheld green bottle, keep it away from the white shampoo bottle, and put the handheld green bottle down upright.",
+    "With the right arm, take the bottle with white printed label up, steer past the plastic shampoo with orange label, and place the bottle with white printed label upright.",
+    "Grab the handheld green bottle, steer it around the curved shampoo bottle, and place the handheld green bottle upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the shampoo bottle with blue cap, then set the bottle with ridges near base upright.",
+    "Use the right arm to grab the smooth green bottle, carry it away from the blue top shampoo bottle, set the smooth green bottle upright.",
+    "With the right arm, pick up the smooth green bottle, steer away from the medium-sized white plastic shampoo, and stand the smooth green bottle up.",
+    "Using the right arm, lift the smooth green bottle, pass clear of the bottle with smooth surface, then place the smooth green bottle upright.",
+    "Use the right arm, raise the smooth green plastic bottle, keep distance from the shampoo bottle with blue cap, then place the smooth green plastic bottle upright.",
+    "Grab the bottle with narrow top, carry it around the bottle with smooth surface, then stand the bottle with narrow top upright.",
+    "Use the right arm to lift the plastic bottle, avoid the plastic shampoo bottle en route, and stand the plastic bottle up.",
+    "Grab the smooth green plastic bottle, keep it from the handheld shampoo container, and set the smooth green plastic bottle upright.",
+    "Pick up the bottle with narrow top, swing wide around the bottle with hexagonal blue cap, and set the bottle with narrow top upright.",
+    "Grab the smooth green plastic bottle, move it without crossing the shampoo bottle with curved sides, then place the smooth green plastic bottle upright.",
+    "With the right arm, secure the green bottle with indented base, pass around the shampoo bottle with curved sides, and set the green bottle with indented base upright.",
+    "Lift the smooth green plastic bottle, keep its path away from the blue top shampoo bottle, and set the smooth green plastic bottle upright.",
+    "With the right arm, pick the bottle with rounded neck up, avoid the bottle with smooth surface, and put the bottle with rounded neck upright.",
+    "Lift the medium-sized green bottle, route its path away from the plastic shampoo bottle, then set the medium-sized green bottle upright.",
+    "Direct the right arm to pick the handheld green bottle up, avoid the white and blue shampoo container, and stand the handheld green bottle upright.",
+    "Have the right arm grasp the smooth green bottle, avoid the plastic shampoo bottle while moving, and set the smooth green bottle upright.",
+    "Take the plastic bottle, keep clear of the white shampoo bottle, and place the plastic bottle upright.",
+    "Take the medium green bottle with capped neck up, skirt the medium-sized white plastic shampoo, and put the medium green bottle with capped neck down upright.",
+    "Take the smooth green plastic bottle, route it away from the handheld shampoo container, and place the smooth green plastic bottle upright.",
+    "Pick the bottle with rounded neck up, keep its path clear of the white shampoo bottle, place the bottle with rounded neck upright.",
+    "With the right arm, take the green bottle with indented base, avoid the shampoo bottle with blue cap while moving, and set the green bottle with indented base upright.",
+    "Grab the medium green bottle, avoid the medium-sized white plastic shampoo while moving, then place the medium green bottle upright.",
+    "Move the medium-sized green bottle away from the shampoo bottle with curved sides as you lift, then place the medium-sized green bottle upright.",
+    "Move the medium-sized green bottle from its spot, skirt the medium-sized white plastic shampoo, and stand the medium-sized green bottle upright.",
+    "With the right arm, take the bottle with rounded neck, pass outside the curved shampoo bottle, and put the bottle with rounded neck upright.",
+    "Lift the smooth green bottle, route it around the white shampoo bottle, then set the smooth green bottle upright.",
+    "Take the green bottle with indented base, move it without nearing the plastic shampoo bottle, and stand the green bottle with indented base upright.",
+    "Pick up the medium green bottle with the right arm, keep it away from the plastic shampoo bottle, place the medium green bottle upright.",
+    "Using the right arm, lift the plastic bottle, keep clear of the shampoo bottle with curved sides, and place the plastic bottle upright.",
+    "Grip the smooth green plastic bottle with the right arm, keep distance from the plastic shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Pick up the handheld green bottle, route it around the plastic shampoo with orange label, then stand the handheld green bottle upright.",
+    "Using the right arm, pick the bottle with rounded neck up, keep clear of the bottle with smooth surface, place the bottle with rounded neck upright.",
+    "Guide the right arm to take the handheld green bottle, bypass the handheld shampoo container, and place the handheld green bottle upright.",
+    "Lift the medium green bottle, guide it around the white and blue shampoo container, then stand the medium green bottle upright.",
+    "Use the right arm to pick the medium green bottle up, avoid the blue top shampoo bottle, and place the medium green bottle upright.",
+    "With the right arm, lift the bottle with white printed label, keep it away from the shampoo bottle with curved sides, place the bottle with white printed label upright.",
+    "Using the right arm, grasp the bottle with ridges near base, move it past the shampoo bottle with curved sides, then stand the bottle with ridges near base up.",
+    "Grab the bottle with rounded neck, keep it away from the medium-sized white plastic shampoo, and put the bottle with rounded neck down upright.",
+    "With the right arm, take the smooth green bottle up, steer past the medium-sized white plastic shampoo, and place the smooth green bottle upright.",
+    "Grab the handheld green bottle, steer it around the bottle with smooth surface, and place the handheld green bottle upright.",
+    "Lift the smooth green plastic bottle, keep its path clear of the plastic shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Use the right arm to grab the smooth green plastic bottle, carry it away from the shampoo bottle with curved sides, set the smooth green plastic bottle upright.",
+    "With the right arm, pick up the medium green bottle with capped neck, steer away from the shampoo bottle with blue cap, and stand the medium green bottle with capped neck up.",
+    "Using the right arm, lift the smooth green plastic bottle, pass clear of the white shampoo bottle, then place the smooth green plastic bottle upright.",
+    "Use the right arm, raise the bottle with ridges near base, keep distance from the blue top shampoo bottle, then place the bottle with ridges near base upright."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo container in white and blue, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the blue-capped shampoo bottle, and place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode60.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b155b84e07882aad6e66e9d2db627275c0e369d
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium-sized green bottle, route it away from the bottle with smooth surface, and place the medium-sized green bottle upright.",
+    "Have the left arm grasp the medium green bottle with capped neck, avoid the shampoo bottle with curved sides while moving, and set the medium green bottle with capped neck upright.",
+    "Lift the plastic bottle, route its path away from the blue top shampoo bottle, then set the plastic bottle upright.",
+    "Grab the medium green bottle with capped neck, avoid the plastic shampoo with orange label while moving, then place the medium green bottle with capped neck upright.",
+    "Grab the bottle with ridges near base, move it without crossing the plastic shampoo with orange label, then place the bottle with ridges near base upright.",
+    "Using the left arm, pick the smooth green plastic bottle up, keep clear of the shampoo bottle with curved sides, place the smooth green plastic bottle upright.",
+    "With the left arm, take the smooth green bottle, pass outside the white and blue shampoo container, and put the smooth green bottle upright.",
+    "Grip the bottle with rounded neck with the left arm, keep distance from the white shampoo bottle, then set the bottle with rounded neck upright.",
+    "Take the green bottle with indented base up, skirt the bottle with smooth surface, and put the green bottle with indented base down upright.",
+    "With the left arm, pick the smooth green bottle up, avoid the plastic shampoo with orange label, and put the smooth green bottle upright.",
+    "Pick the medium green bottle with capped neck up, keep its path clear of the shampoo bottle with blue cap, place the medium green bottle with capped neck upright.",
+    "Grab the bottle with ridges near base, keep it from the plastic shampoo with orange label, and set the bottle with ridges near base upright.",
+    "Using the left arm, grasp the smooth green bottle, move it past the bottle with hexagonal blue cap, then stand the smooth green bottle up.",
+    "Lift the bottle with ridges near base, keep its path away from the medium-sized white plastic shampoo, and set the bottle with ridges near base upright.",
+    "Take the bottle with ridges near base, keep clear of the blue top shampoo bottle, and place the bottle with ridges near base upright.",
+    "Grab the bottle with narrow top, steer it around the curved shampoo bottle, and place the bottle with narrow top upright.",
+    "With the left arm, secure the smooth green plastic bottle, pass around the white and blue shampoo container, and set the smooth green plastic bottle upright.",
+    "Grab the green bottle with indented base, carry it around the curved shampoo bottle, then stand the green bottle with indented base upright.",
+    "Direct the left arm to pick the smooth green plastic bottle up, avoid the shampoo bottle with curved sides, and stand the smooth green plastic bottle upright.",
+    "Grab the medium-sized green bottle, keep it away from the shampoo bottle with blue cap, and put the medium-sized green bottle down upright.",
+    "Pick up the handheld green bottle, swing wide around the bottle with hexagonal blue cap, and set the handheld green bottle upright.",
+    "Use the left arm to pick the medium green bottle with capped neck up, avoid the blue top shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "Guide the left arm to take the bottle with white printed label, bypass the white shampoo bottle, and place the bottle with white printed label upright.",
+    "With the left arm, pick up the bottle with narrow top, steer away from the medium-sized white plastic shampoo, and stand the bottle with narrow top up.",
+    "With the left arm, lift the handheld green bottle, keep it away from the blue top shampoo bottle, place the handheld green bottle upright.",
+    "Lift the smooth green bottle, route it around the white shampoo bottle, then set the smooth green bottle upright.",
+    "With the left arm, take the smooth green bottle up, steer past the white shampoo bottle, and place the smooth green bottle upright.",
+    "Use the left arm, raise the smooth green bottle, keep distance from the shampoo bottle with blue cap, then place the smooth green bottle upright.",
+    "Move the medium-sized green bottle away from the shampoo bottle with curved sides as you lift, then place the medium-sized green bottle upright.",
+    "Pick up the plastic bottle with the left arm, keep it away from the medium-sized white plastic shampoo, place the plastic bottle upright.",
+    "With the left arm, take the bottle with rounded neck, avoid the blue top shampoo bottle while moving, and set the bottle with rounded neck upright.",
+    "Lift the plastic bottle, guide it around the plastic shampoo with orange label, then stand the plastic bottle upright.",
+    "Using the left arm, lift the smooth green bottle, pass clear of the shampoo bottle with curved sides, then place the smooth green bottle upright.",
+    "Use the left arm to lift the smooth green plastic bottle, avoid the bottle with smooth surface en route, and stand the smooth green plastic bottle up.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the plastic shampoo with orange label, set the bottle with white printed label upright.",
+    "Move the medium green bottle from its spot, skirt the white shampoo bottle, and stand the medium green bottle upright.",
+    "Using the left arm, lift the medium green bottle, keep clear of the white and blue shampoo container, and place the medium green bottle upright.",
+    "Take the bottle with rounded neck, move it without nearing the white shampoo bottle, and stand the bottle with rounded neck upright.",
+    "Lift the handheld green bottle, keep its path clear of the medium-sized white plastic shampoo, then set the handheld green bottle upright.",
+    "Pick up the medium green bottle with capped neck, route it around the curved shampoo bottle, then stand the medium green bottle with capped neck upright.",
+    "Take the green bottle with indented base, route it away from the medium-sized white plastic shampoo, and place the green bottle with indented base upright.",
+    "Have the left arm grasp the green bottle with indented base, avoid the white shampoo bottle while moving, and set the green bottle with indented base upright.",
+    "Lift the bottle with ridges near base, route its path away from the handheld shampoo container, then set the bottle with ridges near base upright.",
+    "Grab the smooth green bottle, avoid the shampoo bottle with blue cap while moving, then place the smooth green bottle upright.",
+    "Grab the bottle with narrow top, move it without crossing the white shampoo bottle, then place the bottle with narrow top upright.",
+    "Using the left arm, pick the smooth green plastic bottle up, keep clear of the bottle with smooth surface, place the smooth green plastic bottle upright.",
+    "With the left arm, take the smooth green bottle, pass outside the shampoo bottle with blue cap, and put the smooth green bottle upright.",
+    "Grip the bottle with white printed label with the left arm, keep distance from the white shampoo bottle, then set the bottle with white printed label upright.",
+    "Take the plastic bottle up, skirt the medium-sized white plastic shampoo, and put the plastic bottle down upright.",
+    "With the left arm, pick the plastic bottle up, avoid the plastic shampoo with orange label, and put the plastic bottle upright.",
+    "Pick the bottle with narrow top up, keep its path clear of the handheld shampoo container, place the bottle with narrow top upright.",
+    "Grab the medium green bottle, keep it from the handheld shampoo container, and set the medium green bottle upright.",
+    "Using the left arm, grasp the medium green bottle with capped neck, move it past the bottle with smooth surface, then stand the medium green bottle with capped neck up.",
+    "Lift the bottle with rounded neck, keep its path away from the medium-sized white plastic shampoo, and set the bottle with rounded neck upright.",
+    "Take the smooth green plastic bottle, keep clear of the curved shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Grab the bottle with ridges near base, steer it around the curved shampoo bottle, and place the bottle with ridges near base upright.",
+    "With the left arm, secure the bottle with narrow top, pass around the bottle with hexagonal blue cap, and set the bottle with narrow top upright.",
+    "Grab the bottle with rounded neck, carry it around the shampoo bottle with blue cap, then stand the bottle with rounded neck upright.",
+    "Direct the left arm to pick the bottle with narrow top up, avoid the white shampoo bottle, and stand the bottle with narrow top upright.",
+    "Grab the green bottle with indented base, keep it away from the shampoo bottle with curved sides, and put the green bottle with indented base down upright.",
+    "Pick up the plastic bottle, swing wide around the bottle with smooth surface, and set the plastic bottle upright.",
+    "Use the left arm to pick the medium green bottle with capped neck up, avoid the bottle with smooth surface, and place the medium green bottle with capped neck upright.",
+    "Guide the left arm to take the bottle with rounded neck, bypass the handheld shampoo container, and place the bottle with rounded neck upright.",
+    "With the left arm, pick up the medium-sized green bottle, steer away from the shampoo bottle with curved sides, and stand the medium-sized green bottle up.",
+    "With the left arm, lift the bottle with ridges near base, keep it away from the white shampoo bottle, place the bottle with ridges near base upright.",
+    "Lift the plastic bottle, route it around the handheld shampoo container, then set the plastic bottle upright.",
+    "With the left arm, take the plastic bottle up, steer past the handheld shampoo container, and place the plastic bottle upright.",
+    "Use the left arm, raise the plastic bottle, keep distance from the shampoo bottle with curved sides, then place the plastic bottle upright.",
+    "Move the plastic bottle away from the medium-sized white plastic shampoo as you lift, then place the plastic bottle upright.",
+    "Pick up the handheld green bottle with the left arm, keep it away from the white shampoo bottle, place the handheld green bottle upright.",
+    "With the left arm, take the smooth green plastic bottle, avoid the plastic shampoo bottle while moving, and set the smooth green plastic bottle upright.",
+    "Lift the plastic bottle, guide it around the blue top shampoo bottle, then stand the plastic bottle upright.",
+    "Using the left arm, lift the medium-sized green bottle, pass clear of the medium-sized white plastic shampoo, then place the medium-sized green bottle upright.",
+    "Use the left arm to lift the plastic bottle, avoid the curved shampoo bottle en route, and stand the plastic bottle up.",
+    "Use the left arm to grab the smooth green bottle, carry it away from the bottle with hexagonal blue cap, set the smooth green bottle upright.",
+    "Move the plastic bottle from its spot, skirt the bottle with hexagonal blue cap, and stand the plastic bottle upright.",
+    "Using the left arm, lift the medium green bottle, keep clear of the bottle with smooth surface, and place the medium green bottle upright.",
+    "Take the medium green bottle with capped neck, move it without nearing the curved shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Lift the bottle with white printed label, keep its path clear of the medium-sized white plastic shampoo, then set the bottle with white printed label upright.",
+    "Pick up the green bottle with indented base, route it around the plastic shampoo with orange label, then stand the green bottle with indented base upright.",
+    "Take the green bottle with indented base, route it away from the plastic shampoo bottle, and place the green bottle with indented base upright.",
+    "Have the left arm grasp the bottle with narrow top, avoid the handheld shampoo container while moving, and set the bottle with narrow top upright.",
+    "Lift the bottle with rounded neck, route its path away from the blue top shampoo bottle, then set the bottle with rounded neck upright.",
+    "Grab the medium green bottle, avoid the blue top shampoo bottle while moving, then place the medium green bottle upright.",
+    "Grab the medium green bottle, move it without crossing the medium-sized white plastic shampoo, then place the medium green bottle upright.",
+    "Using the left arm, pick the bottle with rounded neck up, keep clear of the medium-sized white plastic shampoo, place the bottle with rounded neck upright.",
+    "With the left arm, take the bottle with narrow top, pass outside the bottle with hexagonal blue cap, and put the bottle with narrow top upright.",
+    "Grip the handheld green bottle with the left arm, keep distance from the white and blue shampoo container, then set the handheld green bottle upright.",
+    "Take the bottle with narrow top up, skirt the white shampoo bottle, and put the bottle with narrow top down upright.",
+    "With the left arm, pick the plastic bottle up, avoid the bottle with hexagonal blue cap, and put the plastic bottle upright.",
+    "Pick the smooth green bottle up, keep its path clear of the curved shampoo bottle, place the smooth green bottle upright.",
+    "Grab the smooth green plastic bottle, keep it from the plastic shampoo bottle, and set the smooth green plastic bottle upright.",
+    "Using the left arm, grasp the medium-sized green bottle, move it past the handheld shampoo container, then stand the medium-sized green bottle up.",
+    "Lift the plastic bottle, keep its path away from the shampoo bottle with blue cap, and set the plastic bottle upright.",
+    "Take the plastic bottle, keep clear of the white and blue shampoo container, and place the plastic bottle upright.",
+    "Grab the medium-sized green bottle, steer it around the shampoo bottle with blue cap, and place the medium-sized green bottle upright.",
+    "With the left arm, secure the smooth green bottle, pass around the shampoo bottle with blue cap, and set the smooth green bottle upright.",
+    "Grab the plastic bottle, carry it around the shampoo bottle with curved sides, then stand the plastic bottle upright.",
+    "Direct the left arm to pick the handheld green bottle up, avoid the curved shampoo bottle, and stand the handheld green bottle upright.",
+    "Grab the smooth green plastic bottle, keep it away from the bottle with smooth surface, and put the smooth green plastic bottle down upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode61.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb1a52bd4e95c7d38dac1144bf8039e662c24f65
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red-capped bottle, route it around the hand-sized shampoo bottle, then stand the red-capped bottle upright.",
+    "Using the right arm, lift the long thin bottle, keep clear of the blue shampoo bottle, and place the long thin bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the shampoo bottle flat bottom edge, then set the hand-sized soda bottle upright.",
+    "Lift the plastic drink bottle, route its path away from the bottle light blue rounded shape, then set the plastic drink bottle upright.",
+    "Direct the right arm to pick the red-capped bottle up, avoid the blue shampoo bottle, and stand the red-capped bottle upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the small smooth shampoo bottle, place the smooth bottle with red lid upright.",
+    "Take the Coca-Cola bottle, move it without nearing the small smooth shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, keep it away from the shampoo bottle flat bottom edge, and put the hand-sized soda bottle down upright.",
+    "Use the right arm to pick the bottle with ridges on bottom up, avoid the hand-sized shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Using the right arm, grasp the medium dark brown bottle, move it past the small smooth shampoo bottle, then stand the medium dark brown bottle up.",
+    "Grab the long thin bottle, steer it around the blue shampoo bottle, and place the long thin bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the blue shampoo bottle slender design, and set the red-capped bottle upright.",
+    "With the right arm, take the plastic drink bottle, avoid the light blue shampoo bottle small size while moving, and set the plastic drink bottle upright.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the hand-sized shampoo bottle, set the dark drink bottle with logo upright.",
+    "Using the right arm, pick the Coca-Cola bottle up, keep clear of the light blue shampoo bottle small size, place the Coca-Cola bottle upright.",
+    "Take the plastic drink bottle up, skirt the light blue shampoo bottle small size, and put the plastic drink bottle down upright.",
+    "Move the Coca-Cola bottle away from the blue shampoo bottle as you lift, then place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, pass clear of the hand-sized shampoo bottle, then place the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, avoid the hand-sized shampoo bottle while moving, then place the medium dark brown bottle upright.",
+    "With the right arm, lift the medium dark brown bottle, keep it away from the shampoo bottle with white cap, place the medium dark brown bottle upright.",
+    "Pick up the medium dark brown bottle with the right arm, keep it away from the bottle light blue rounded shape, place the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, keep it from the light blue shampoo bottle small size, and set the medium dark brown bottle upright.",
+    "With the right arm, pick up the narrow-necked bottle, steer away from the bottle of shampoo, and stand the narrow-necked bottle up.",
+    "Take the hand-sized soda bottle, keep clear of the shampoo bottle tapered toward cap, and place the hand-sized soda bottle upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle with white cap, then stand the bottle with ridges on bottom upright.",
+    "Grip the red-capped bottle with the right arm, keep distance from the shampoo bottle with white cap, then set the red-capped bottle upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the bottle of shampoo en route, and stand the red-capped bottle up.",
+    "Lift the red-capped bottle, keep its path away from the blue shampoo bottle, and set the red-capped bottle upright.",
+    "Guide the right arm to take the medium dark brown bottle, bypass the shampoo bottle with matte plastic, and place the medium dark brown bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the blue shampoo bottle slender design, and stand the bottle with white neck and red top upright.",
+    "With the right arm, take the long thin bottle up, steer past the small smooth shampoo bottle, and place the long thin bottle upright.",
+    "Use the right arm, raise the medium dark brown bottle, keep distance from the shampoo bottle flat bottom edge, then place the medium dark brown bottle upright.",
+    "Have the right arm grasp the red-capped bottle, avoid the small smooth shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Grab the red-capped bottle, move it without crossing the shampoo bottle tapered toward cap, then place the red-capped bottle upright.",
+    "Lift the brown bottle with red label, guide it around the shampoo bottle with white cap, then stand the brown bottle with red label upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the bottle light blue rounded shape, and put the plastic drink bottle upright.",
+    "With the right arm, secure the medium dark brown bottle, pass around the hand-sized shampoo bottle, and set the medium dark brown bottle upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the hand-sized shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Take the Coca-Cola bottle, route it away from the shampoo bottle tapered toward cap, and place the Coca-Cola bottle upright.",
+    "Lift the dark drink bottle with logo, route it around the blue shampoo bottle slender design, then set the dark drink bottle with logo upright.",
+    "Pick up the long thin bottle, route it around the light blue shampoo bottle small size, then stand the long thin bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the shampoo bottle flat bottom edge, and place the narrow-necked bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the bottle of shampoo, then set the narrow-necked bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the shampoo bottle with white cap, then set the narrow-necked bottle upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the blue shampoo bottle slender design, and stand the dark drink bottle with logo upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the shampoo bottle with matte plastic, place the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, move it without nearing the bottle of shampoo, and stand the smooth bottle with red lid upright.",
+    "Grab the medium dark brown bottle, keep it away from the bottle of shampoo, and put the medium dark brown bottle down upright.",
+    "Use the right arm to pick the narrow-necked bottle up, avoid the light blue shampoo bottle small size, and place the narrow-necked bottle upright.",
+    "Using the right arm, grasp the red-capped bottle, move it past the light blue shampoo bottle small size, then stand the red-capped bottle up.",
+    "Grab the smooth bottle with red lid, steer it around the shampoo bottle with white cap, and place the smooth bottle with red lid upright.",
+    "Pick up the medium dark brown bottle, swing wide around the bottle of shampoo, and set the medium dark brown bottle upright.",
+    "With the right arm, take the brown bottle with red label, avoid the bottle light blue rounded shape while moving, and set the brown bottle with red label upright.",
+    "Use the right arm to grab the hand-sized soda bottle, carry it away from the blue shampoo bottle, set the hand-sized soda bottle upright.",
+    "Using the right arm, pick the red-capped bottle up, keep clear of the bottle of shampoo, place the red-capped bottle upright.",
+    "Take the smooth bottle with red lid up, skirt the bottle of shampoo, and put the smooth bottle with red lid down upright.",
+    "Move the red-capped bottle away from the bottle of shampoo as you lift, then place the red-capped bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, pass clear of the bottle of shampoo, then place the narrow-necked bottle upright.",
+    "Grab the narrow-necked bottle, avoid the shampoo bottle flat bottom edge while moving, then place the narrow-necked bottle upright.",
+    "With the right arm, lift the brown bottle with red label, keep it away from the small smooth shampoo bottle, place the brown bottle with red label upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the small smooth shampoo bottle, place the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the light blue shampoo bottle small size, and set the Coca-Cola bottle upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the curved light blue shampoo bottle, and stand the Coca-Cola bottle up.",
+    "Take the Coca-Cola bottle, keep clear of the blue shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the hand-sized shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Grip the medium dark brown bottle with the right arm, keep distance from the bottle light blue rounded shape, then set the medium dark brown bottle upright.",
+    "Use the right arm to lift the dark drink bottle with logo, avoid the blue shampoo bottle slender design en route, and stand the dark drink bottle with logo up.",
+    "Lift the brown bottle with red label, keep its path away from the bottle light blue rounded shape, and set the brown bottle with red label upright.",
+    "Guide the right arm to take the bottle with ridges on bottom, bypass the blue shampoo bottle slender design, and place the bottle with ridges on bottom upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the shampoo bottle with matte plastic, and stand the Coca-Cola bottle upright.",
+    "With the right arm, take the hand-sized soda bottle up, steer past the blue shampoo bottle slender design, and place the hand-sized soda bottle upright.",
+    "Use the right arm, raise the smooth bottle with red lid, keep distance from the bottle light blue rounded shape, then place the smooth bottle with red lid upright.",
+    "Have the right arm grasp the medium dark brown bottle, avoid the hand-sized shampoo bottle while moving, and set the medium dark brown bottle upright.",
+    "Grab the narrow-necked bottle, move it without crossing the light blue shampoo bottle small size, then place the narrow-necked bottle upright.",
+    "Lift the red-capped bottle, guide it around the shampoo bottle tapered toward cap, then stand the red-capped bottle upright.",
+    "With the right arm, pick the bottle with white neck and red top up, avoid the bottle of shampoo, and put the bottle with white neck and red top upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the shampoo bottle tapered toward cap, and set the bottle with white neck and red top upright.",
+    "With the right arm, take the Coca-Cola bottle, pass outside the shampoo bottle tapered toward cap, and put the Coca-Cola bottle upright.",
+    "Take the plastic drink bottle, route it away from the shampoo bottle flat bottom edge, and place the plastic drink bottle upright.",
+    "Lift the medium dark brown bottle, route it around the light blue shampoo bottle small size, then set the medium dark brown bottle upright.",
+    "Pick up the narrow-necked bottle, route it around the blue shampoo bottle slender design, then stand the narrow-necked bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the bottle light blue rounded shape, and place the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the light blue shampoo bottle small size, then set the bottle with ridges on bottom upright.",
+    "Lift the Coca-Cola bottle, route its path away from the light blue shampoo bottle small size, then set the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the smooth bottle with red lid up, avoid the blue shampoo bottle slender design, and stand the smooth bottle with red lid upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the blue shampoo bottle slender design, place the narrow-necked bottle upright.",
+    "Take the Coca-Cola bottle, move it without nearing the curved light blue shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Grab the long thin bottle, keep it away from the curved light blue shampoo bottle, and put the long thin bottle down upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the small smooth shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Using the right arm, grasp the red-capped bottle, move it past the shampoo bottle flat bottom edge, then stand the red-capped bottle up.",
+    "Grab the dark drink bottle with logo, steer it around the bottle of shampoo, and place the dark drink bottle with logo upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the bottle light blue rounded shape, and set the hand-sized soda bottle upright.",
+    "With the right arm, take the Coca-Cola bottle, avoid the blue shampoo bottle slender design while moving, and set the Coca-Cola bottle upright.",
+    "Use the right arm to grab the medium dark brown bottle, carry it away from the small smooth shampoo bottle, set the medium dark brown bottle upright.",
+    "Using the right arm, pick the Coca-Cola bottle up, keep clear of the bottle light blue rounded shape, place the Coca-Cola bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the blue shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Move the smooth bottle with red lid away from the bottle of shampoo as you lift, then place the smooth bottle with red lid upright.",
+    "Using the right arm, lift the smooth bottle with red lid, pass clear of the shampoo bottle tapered toward cap, then place the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, avoid the blue shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "With the right arm, lift the narrow-necked bottle, keep it away from the shampoo bottle with white cap, place the narrow-necked bottle upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode62.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..1929f524f1b3c7cbd02ff4dc4a4f10c7f774c32b
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm, raise the smooth bottle with red lid, keep distance from the blue shampoo bottle, then place the smooth bottle with red lid upright.",
+    "Grip the long thin bottle with the right arm, keep distance from the curved light blue shampoo bottle, then set the long thin bottle upright.",
+    "Use the right arm to lift the bottle with ridges on bottom, avoid the shampoo bottle with white cap en route, and stand the bottle with ridges on bottom up.",
+    "With the right arm, pick the red-capped bottle up, avoid the blue shampoo bottle slender design, and put the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the blue shampoo bottle slender design, then set the medium dark brown bottle upright.",
+    "Guide the right arm to take the brown bottle with red label, bypass the bottle of shampoo, and place the brown bottle with red label upright.",
+    "Using the right arm, lift the bottle with white neck and red top, keep clear of the bottle light blue rounded shape, and place the bottle with white neck and red top upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the shampoo bottle with white cap, place the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, keep clear of the shampoo bottle flat bottom edge, and place the hand-sized soda bottle upright.",
+    "Move the hand-sized soda bottle away from the blue shampoo bottle slender design as you lift, then place the hand-sized soda bottle upright.",
+    "With the right arm, take the red-capped bottle, pass outside the bottle light blue rounded shape, and put the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the bottle of shampoo, and set the Coca-Cola bottle upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the small smooth shampoo bottle, and place the dark drink bottle with logo upright.",
+    "With the right arm, take the narrow-necked bottle up, steer past the blue shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the right arm, lift the hand-sized soda bottle, keep it away from the bottle light blue rounded shape, place the hand-sized soda bottle upright.",
+    "Have the right arm grasp the red-capped bottle, avoid the blue shampoo bottle slender design while moving, and set the red-capped bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the shampoo bottle flat bottom edge, and put the medium dark brown bottle down upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the shampoo bottle flat bottom edge while moving, and set the medium dark brown bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the curved light blue shampoo bottle, and set the plastic drink bottle upright.",
+    "Lift the brown bottle with red label, route its path away from the shampoo bottle with white cap, then set the brown bottle with red label upright.",
+    "Take the plastic drink bottle, move it without nearing the small smooth shampoo bottle, and stand the plastic drink bottle upright.",
+    "Take the plastic drink bottle up, skirt the blue shampoo bottle slender design, and put the plastic drink bottle down upright.",
+    "Using the right arm, lift the narrow-necked bottle, pass clear of the shampoo bottle flat bottom edge, then place the narrow-necked bottle upright.",
+    "With the right arm, pick up the red-capped bottle, steer away from the small smooth shampoo bottle, and stand the red-capped bottle up.",
+    "Lift the bottle with white neck and red top, guide it around the shampoo bottle flat bottom edge, then stand the bottle with white neck and red top upright.",
+    "With the right arm, secure the dark drink bottle with logo, pass around the small smooth shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Lift the long thin bottle, route it around the small smooth shampoo bottle, then set the long thin bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the shampoo bottle flat bottom edge, and set the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the shampoo bottle with white cap while moving, then place the bottle with white neck and red top upright.",
+    "Using the right arm, grasp the long thin bottle, move it past the bottle of shampoo, then stand the long thin bottle up.",
+    "Use the right arm to grab the brown bottle with red label, carry it away from the bottle light blue rounded shape, set the brown bottle with red label upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the bottle light blue rounded shape, and stand the bottle with ridges on bottom upright.",
+    "Direct the right arm to pick the Coca-Cola bottle up, avoid the shampoo bottle with matte plastic, and stand the Coca-Cola bottle upright.",
+    "Using the right arm, pick the dark drink bottle with logo up, keep clear of the small smooth shampoo bottle, place the dark drink bottle with logo upright.",
+    "Pick up the smooth bottle with red lid with the right arm, keep it away from the bottle light blue rounded shape, place the smooth bottle with red lid upright.",
+    "Take the plastic drink bottle, route it away from the curved light blue shampoo bottle, and place the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, steer it around the bottle of shampoo, and place the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the shampoo bottle tapered toward cap, then place the hand-sized soda bottle upright.",
+    "Grab the plastic drink bottle, carry it around the blue shampoo bottle slender design, then stand the plastic drink bottle upright.",
+    "Pick up the plastic drink bottle, route it around the shampoo bottle tapered toward cap, then stand the plastic drink bottle upright.",
+    "Use the right arm, raise the long thin bottle, keep distance from the bottle light blue rounded shape, then place the long thin bottle upright.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the bottle light blue rounded shape, then set the plastic drink bottle upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the blue shampoo bottle en route, and stand the red-capped bottle up.",
+    "With the right arm, pick the hand-sized soda bottle up, avoid the blue shampoo bottle slender design, and put the hand-sized soda bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the bottle light blue rounded shape, then set the red-capped bottle upright.",
+    "Guide the right arm to take the Coca-Cola bottle, bypass the shampoo bottle with matte plastic, and place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the plastic drink bottle, keep clear of the small smooth shampoo bottle, and place the plastic drink bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the shampoo bottle tapered toward cap, place the narrow-necked bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo bottle with matte plastic, and place the bottle with ridges on bottom upright.",
+    "Move the bottle with ridges on bottom away from the hand-sized shampoo bottle as you lift, then place the bottle with ridges on bottom upright.",
+    "With the right arm, take the medium dark brown bottle, pass outside the shampoo bottle with white cap, and put the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, keep it from the shampoo bottle tapered toward cap, and set the medium dark brown bottle upright.",
+    "Use the right arm to pick the red-capped bottle up, avoid the shampoo bottle with matte plastic, and place the red-capped bottle upright.",
+    "With the right arm, take the bottle with white neck and red top up, steer past the blue shampoo bottle slender design, and place the bottle with white neck and red top upright.",
+    "With the right arm, lift the bottle with white neck and red top, keep it away from the shampoo bottle with white cap, place the bottle with white neck and red top upright.",
+    "Have the right arm grasp the Coca-Cola bottle, avoid the small smooth shampoo bottle while moving, and set the Coca-Cola bottle upright.",
+    "Grab the smooth bottle with red lid, keep it away from the shampoo bottle flat bottom edge, and put the smooth bottle with red lid down upright.",
+    "With the right arm, take the plastic drink bottle, avoid the shampoo bottle with white cap while moving, and set the plastic drink bottle upright.",
+    "Lift the brown bottle with red label, keep its path away from the blue shampoo bottle, and set the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, route its path away from the bottle light blue rounded shape, then set the medium dark brown bottle upright.",
+    "Take the medium dark brown bottle, move it without nearing the curved light blue shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Take the medium dark brown bottle up, skirt the shampoo bottle with white cap, and put the medium dark brown bottle down upright.",
+    "Using the right arm, lift the red-capped bottle, pass clear of the blue shampoo bottle slender design, then place the red-capped bottle upright.",
+    "With the right arm, pick up the bottle with ridges on bottom, steer away from the bottle of shampoo, and stand the bottle with ridges on bottom up.",
+    "Lift the red-capped bottle, guide it around the small smooth shampoo bottle, then stand the red-capped bottle upright.",
+    "With the right arm, secure the dark drink bottle with logo, pass around the hand-sized shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Lift the hand-sized soda bottle, route it around the shampoo bottle tapered toward cap, then set the hand-sized soda bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the small smooth shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, avoid the blue shampoo bottle while moving, then place the red-capped bottle upright.",
+    "Using the right arm, grasp the smooth bottle with red lid, move it past the shampoo bottle tapered toward cap, then stand the smooth bottle with red lid up.",
+    "Use the right arm to grab the Coca-Cola bottle, carry it away from the bottle light blue rounded shape, set the Coca-Cola bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the bottle of shampoo, and stand the hand-sized soda bottle upright.",
+    "Direct the right arm to pick the long thin bottle up, avoid the small smooth shampoo bottle, and stand the long thin bottle upright.",
+    "Using the right arm, pick the medium dark brown bottle up, keep clear of the light blue shampoo bottle small size, place the medium dark brown bottle upright.",
+    "Pick up the Coca-Cola bottle with the right arm, keep it away from the curved light blue shampoo bottle, place the Coca-Cola bottle upright.",
+    "Take the plastic drink bottle, route it away from the bottle light blue rounded shape, and place the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, steer it around the bottle of shampoo, and place the dark drink bottle with logo upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the blue shampoo bottle, then place the smooth bottle with red lid upright.",
+    "Grab the smooth bottle with red lid, carry it around the shampoo bottle tapered toward cap, then stand the smooth bottle with red lid upright.",
+    "Pick up the red-capped bottle, route it around the light blue shampoo bottle small size, then stand the red-capped bottle upright.",
+    "Use the right arm, raise the brown bottle with red label, keep distance from the bottle of shampoo, then place the brown bottle with red label upright.",
+    "Grip the hand-sized soda bottle with the right arm, keep distance from the bottle of shampoo, then set the hand-sized soda bottle upright.",
+    "Use the right arm to lift the bottle with white neck and red top, avoid the bottle of shampoo en route, and stand the bottle with white neck and red top up.",
+    "With the right arm, pick the hand-sized soda bottle up, avoid the shampoo bottle with matte plastic, and put the hand-sized soda bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the shampoo bottle tapered toward cap, then set the bottle with white neck and red top upright.",
+    "Guide the right arm to take the smooth bottle with red lid, bypass the shampoo bottle with matte plastic, and place the smooth bottle with red lid upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the hand-sized shampoo bottle, and place the red-capped bottle upright.",
+    "Pick the bottle with white neck and red top up, keep its path clear of the blue shampoo bottle slender design, place the bottle with white neck and red top upright.",
+    "Take the long thin bottle, keep clear of the light blue shampoo bottle small size, and place the long thin bottle upright.",
+    "Move the narrow-necked bottle away from the blue shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the shampoo bottle flat bottom edge, and put the bottle with white neck and red top upright.",
+    "Grab the dark drink bottle with logo, keep it from the hand-sized shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Use the right arm to pick the brown bottle with red label up, avoid the small smooth shampoo bottle, and place the brown bottle with red label upright.",
+    "With the right arm, take the red-capped bottle up, steer past the light blue shampoo bottle small size, and place the red-capped bottle upright.",
+    "With the right arm, lift the bottle with ridges on bottom, keep it away from the light blue shampoo bottle small size, place the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the brown bottle with red label, avoid the shampoo bottle tapered toward cap while moving, and set the brown bottle with red label upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle flat bottom edge, and put the dark drink bottle with logo down upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the bottle light blue rounded shape while moving, and set the medium dark brown bottle upright.",
+    "Lift the long thin bottle, keep its path away from the shampoo bottle with white cap, and set the long thin bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the bottle light blue rounded shape, then set the bottle with white neck and red top upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode63.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..98a166b3b0b907b7ecb14ee4aba1d0a6a920eac9
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the narrow-necked bottle from its spot, skirt the medium-sized white plastic shampoo, and stand the narrow-necked bottle upright.",
+    "Use the right arm, raise the red-capped bottle, keep distance from the curved shampoo bottle, then place the red-capped bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the shampoo bottle with blue cap, and place the narrow-necked bottle upright.",
+    "Use the right arm to pick the red-capped bottle up, avoid the blue top shampoo bottle, and place the red-capped bottle upright.",
+    "Have the right arm grasp the plastic drink bottle, avoid the medium-sized white plastic shampoo while moving, and set the plastic drink bottle upright.",
+    "Grip the narrow-necked bottle with the right arm, keep distance from the bottle with smooth surface, then set the narrow-necked bottle upright.",
+    "Take the brown bottle with red label, keep clear of the handheld shampoo container, and place the brown bottle with red label upright.",
+    "Grab the long thin bottle, steer it around the plastic shampoo with orange label, and place the long thin bottle upright.",
+    "Grab the narrow-necked bottle, move it without crossing the bottle with hexagonal blue cap, then place the narrow-necked bottle upright.",
+    "Direct the right arm to pick the hand-sized soda bottle up, avoid the bottle with smooth surface, and stand the hand-sized soda bottle upright.",
+    "Take the dark drink bottle with logo, move it without nearing the curved shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the plastic shampoo with orange label en route, and stand the red-capped bottle up.",
+    "With the right arm, take the narrow-necked bottle, pass outside the blue top shampoo bottle, and put the narrow-necked bottle upright.",
+    "With the right arm, pick up the narrow-necked bottle, steer away from the plastic shampoo bottle, and stand the narrow-necked bottle up.",
+    "Using the right arm, grasp the plastic drink bottle, move it past the bottle with smooth surface, then stand the plastic drink bottle up.",
+    "Grab the bottle with white neck and red top, keep it away from the curved shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Using the right arm, pick the bottle with white neck and red top up, keep clear of the bottle with smooth surface, place the bottle with white neck and red top upright.",
+    "Using the right arm, lift the Coca-Cola bottle, pass clear of the blue top shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the white shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Pick the long thin bottle up, keep its path clear of the plastic shampoo with orange label, place the long thin bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the shampoo bottle with blue cap, and put the dark drink bottle with logo down upright.",
+    "Guide the right arm to take the smooth bottle with red lid, bypass the medium-sized white plastic shampoo, and place the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, route it around the bottle with hexagonal blue cap, then set the Coca-Cola bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the blue top shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the white shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, guide it around the medium-sized white plastic shampoo, then stand the long thin bottle upright.",
+    "Move the smooth bottle with red lid away from the blue top shampoo bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Lift the plastic drink bottle, keep its path clear of the medium-sized white plastic shampoo, then set the plastic drink bottle upright.",
+    "With the right arm, take the smooth bottle with red lid up, steer past the bottle with hexagonal blue cap, and place the smooth bottle with red lid upright.",
+    "Pick up the smooth bottle with red lid, route it around the handheld shampoo container, then stand the smooth bottle with red lid upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the bottle with hexagonal blue cap, place the hand-sized soda bottle upright.",
+    "Use the right arm to grab the bottle with ridges on bottom, carry it away from the white and blue shampoo container, set the bottle with ridges on bottom upright.",
+    "With the right arm, secure the brown bottle with red label, pass around the plastic shampoo with orange label, and set the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, avoid the white and blue shampoo container while moving, then place the hand-sized soda bottle upright.",
+    "Take the smooth bottle with red lid, route it away from the shampoo bottle with blue cap, and place the smooth bottle with red lid upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the shampoo bottle with blue cap, and set the smooth bottle with red lid upright.",
+    "With the right arm, lift the bottle with ridges on bottom, keep it away from the handheld shampoo container, place the bottle with ridges on bottom upright.",
+    "With the right arm, pick the bottle with white neck and red top up, avoid the curved shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, keep it from the shampoo bottle with blue cap, and set the bottle with ridges on bottom upright.",
+    "With the right arm, take the smooth bottle with red lid, avoid the shampoo bottle with blue cap while moving, and set the smooth bottle with red lid upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the plastic shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Use the right arm, raise the red-capped bottle, keep distance from the blue top shampoo bottle, then place the red-capped bottle upright.",
+    "Using the right arm, lift the Coca-Cola bottle, keep clear of the plastic shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Use the right arm to pick the narrow-necked bottle up, avoid the bottle with smooth surface, and place the narrow-necked bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the curved shampoo bottle while moving, and set the long thin bottle upright.",
+    "Grip the red-capped bottle with the right arm, keep distance from the shampoo bottle with curved sides, then set the red-capped bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the shampoo bottle with curved sides, and place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, steer it around the bottle with smooth surface, and place the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, move it without crossing the plastic shampoo bottle, then place the brown bottle with red label upright.",
+    "Direct the right arm to pick the brown bottle with red label up, avoid the white and blue shampoo container, and stand the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top, move it without nearing the bottle with hexagonal blue cap, and stand the bottle with white neck and red top upright.",
+    "Use the right arm to lift the brown bottle with red label, avoid the shampoo bottle with blue cap en route, and stand the brown bottle with red label up.",
+    "With the right arm, take the narrow-necked bottle, pass outside the blue top shampoo bottle, and put the narrow-necked bottle upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the plastic shampoo bottle, and stand the dark drink bottle with logo up.",
+    "Using the right arm, grasp the bottle with white neck and red top, move it past the plastic shampoo bottle, then stand the bottle with white neck and red top up.",
+    "Grab the bottle with ridges on bottom, keep it away from the shampoo bottle with curved sides, and put the bottle with ridges on bottom down upright.",
+    "Using the right arm, pick the long thin bottle up, keep clear of the medium-sized white plastic shampoo, place the long thin bottle upright.",
+    "Using the right arm, lift the dark drink bottle with logo, pass clear of the plastic shampoo with orange label, then place the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, route its path away from the shampoo bottle with curved sides, then set the medium dark brown bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo bottle with curved sides, place the plastic drink bottle upright.",
+    "Take the plastic drink bottle up, skirt the curved shampoo bottle, and put the plastic drink bottle down upright.",
+    "Guide the right arm to take the medium dark brown bottle, bypass the blue top shampoo bottle, and place the medium dark brown bottle upright.",
+    "Lift the long thin bottle, route it around the shampoo bottle with curved sides, then set the long thin bottle upright.",
+    "Grab the long thin bottle, carry it around the shampoo bottle with curved sides, then stand the long thin bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the shampoo bottle with blue cap, and set the hand-sized soda bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the bottle with hexagonal blue cap, then stand the bottle with white neck and red top upright.",
+    "Move the red-capped bottle away from the bottle with smooth surface as you lift, then place the red-capped bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the plastic shampoo bottle, then set the Coca-Cola bottle upright.",
+    "With the right arm, take the plastic drink bottle up, steer past the medium-sized white plastic shampoo, and place the plastic drink bottle upright.",
+    "Pick up the plastic drink bottle, route it around the plastic shampoo with orange label, then stand the plastic drink bottle upright.",
+    "Pick up the medium dark brown bottle with the right arm, keep it away from the bottle with hexagonal blue cap, place the medium dark brown bottle upright.",
+    "Use the right arm to grab the narrow-necked bottle, carry it away from the medium-sized white plastic shampoo, set the narrow-necked bottle upright.",
+    "With the right arm, secure the plastic drink bottle, pass around the blue top shampoo bottle, and set the plastic drink bottle upright.",
+    "Grab the hand-sized soda bottle, avoid the white and blue shampoo container while moving, then place the hand-sized soda bottle upright.",
+    "Take the plastic drink bottle, route it away from the shampoo bottle with blue cap, and place the plastic drink bottle upright.",
+    "Pick up the long thin bottle, swing wide around the blue top shampoo bottle, and set the long thin bottle upright.",
+    "With the right arm, lift the Coca-Cola bottle, keep it away from the shampoo bottle with blue cap, place the Coca-Cola bottle upright.",
+    "With the right arm, pick the narrow-necked bottle up, avoid the blue top shampoo bottle, and put the narrow-necked bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the plastic shampoo with orange label, and set the Coca-Cola bottle upright.",
+    "With the right arm, take the brown bottle with red label, avoid the bottle with hexagonal blue cap while moving, and set the brown bottle with red label upright.",
+    "Move the medium dark brown bottle from its spot, skirt the white shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the white and blue shampoo container, then place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the plastic drink bottle, keep clear of the shampoo bottle with blue cap, and place the plastic drink bottle upright.",
+    "Use the right arm to pick the Coca-Cola bottle up, avoid the medium-sized white plastic shampoo, and place the Coca-Cola bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the white and blue shampoo container while moving, and set the long thin bottle upright.",
+    "Grip the bottle with white neck and red top with the right arm, keep distance from the white and blue shampoo container, then set the bottle with white neck and red top upright.",
+    "Take the plastic drink bottle, keep clear of the bottle with hexagonal blue cap, and place the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the blue top shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the bottle with smooth surface, then place the dark drink bottle with logo upright.",
+    "Direct the right arm to pick the bottle with ridges on bottom up, avoid the medium-sized white plastic shampoo, and stand the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, move it without nearing the white and blue shampoo container, and stand the Coca-Cola bottle upright.",
+    "Use the right arm to lift the hand-sized soda bottle, avoid the shampoo bottle with blue cap en route, and stand the hand-sized soda bottle up.",
+    "With the right arm, take the long thin bottle, pass outside the shampoo bottle with curved sides, and put the long thin bottle upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the shampoo bottle with curved sides, and stand the dark drink bottle with logo up.",
+    "Using the right arm, grasp the bottle with white neck and red top, move it past the medium-sized white plastic shampoo, then stand the bottle with white neck and red top up.",
+    "Grab the brown bottle with red label, keep it away from the bottle with smooth surface, and put the brown bottle with red label down upright.",
+    "Using the right arm, pick the hand-sized soda bottle up, keep clear of the white and blue shampoo container, place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the plastic drink bottle, pass clear of the plastic shampoo bottle, then place the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the bottle with hexagonal blue cap, then set the bottle with white neck and red top upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the white and blue shampoo container, place the smooth bottle with red lid upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode64.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..0523edac82c2587d923d32f308a692a92283d586
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized green bottle, steer it around the white shampoo bottle, and place the medium-sized green bottle upright.",
+    "Lift the bottle with rounded neck, route its path away from the shampoo bottle with pink cap, then set the bottle with rounded neck upright.",
+    "Have the right arm grasp the bottle with narrow top, avoid the shampoo bottle with pink cap while moving, and set the bottle with narrow top upright.",
+    "Lift the bottle with narrow top, keep its path clear of the oval-shaped shampoo bottle, then set the bottle with narrow top upright.",
+    "Direct the right arm to pick the medium-sized green bottle up, avoid the shampoo dispenser with flat base, and stand the medium-sized green bottle upright.",
+    "Take the medium-sized green bottle, move it without nearing the medium oval plastic shampoo container, and stand the medium-sized green bottle upright.",
+    "Move the bottle with ridges near base from its spot, skirt the pink-topped shampoo bottle, and stand the bottle with ridges near base upright.",
+    "Lift the bottle with narrow top, guide it around the shampoo dispenser with flat base, then stand the bottle with narrow top upright.",
+    "Lift the medium green bottle with capped neck, keep its path away from the shampoo dispenser with flat base, and set the medium green bottle with capped neck upright.",
+    "With the right arm, take the smooth green plastic bottle, pass outside the white body pink flip cap bottle, and put the smooth green plastic bottle upright.",
+    "Using the right arm, lift the bottle with white printed label, pass clear of the glossy white shampoo bottle, then place the bottle with white printed label upright.",
+    "Pick the green bottle with indented base up, keep its path clear of the shampoo bottle with pink cap, place the green bottle with indented base upright.",
+    "Grab the smooth green bottle, avoid the shampoo dispenser with flat base while moving, then place the smooth green bottle upright.",
+    "With the right arm, take the bottle with narrow top, avoid the shampoo dispenser with flat base while moving, and set the bottle with narrow top upright.",
+    "Use the right arm to pick the plastic bottle up, avoid the white shampoo bottle, and place the plastic bottle upright.",
+    "Grab the smooth green plastic bottle, keep it from the plastic shampoo container, and set the smooth green plastic bottle upright.",
+    "With the right arm, pick the handheld green bottle up, avoid the shampoo bottle with pink cap, and put the handheld green bottle upright.",
+    "Lift the smooth green plastic bottle, route it around the plastic shampoo container, then set the smooth green plastic bottle upright.",
+    "Using the right arm, grasp the bottle with rounded neck, move it past the hand-sized shampoo bottle, then stand the bottle with rounded neck up.",
+    "Grab the plastic bottle, move it without crossing the glossy white shampoo bottle, then place the plastic bottle upright.",
+    "Use the right arm to grab the bottle with narrow top, carry it away from the hand-sized shampoo bottle, set the bottle with narrow top upright.",
+    "Grip the medium-sized green bottle with the right arm, keep distance from the oval-shaped shampoo bottle, then set the medium-sized green bottle upright.",
+    "With the right arm, take the medium-sized green bottle up, steer past the shampoo dispenser with flat base, and place the medium-sized green bottle upright.",
+    "Move the bottle with narrow top away from the white shampoo bottle as you lift, then place the bottle with narrow top upright.",
+    "Use the right arm, raise the medium green bottle, keep distance from the shampoo bottle with pink cap, then place the medium green bottle upright.",
+    "Guide the right arm to take the medium green bottle with capped neck, bypass the plastic shampoo container, and place the medium green bottle with capped neck upright.",
+    "Pick up the handheld green bottle with the right arm, keep it away from the medium oval plastic shampoo container, place the handheld green bottle upright.",
+    "Using the right arm, lift the medium green bottle with capped neck, keep clear of the smooth white shampoo dispenser, and place the medium green bottle with capped neck upright.",
+    "Take the medium green bottle with capped neck, keep clear of the hand-sized shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "With the right arm, secure the bottle with white printed label, pass around the medium shampoo bottle, and set the bottle with white printed label upright.",
+    "Use the right arm to lift the smooth green plastic bottle, avoid the medium shampoo bottle en route, and stand the smooth green plastic bottle up.",
+    "Take the plastic bottle up, skirt the shampoo bottle with pink cap, and put the plastic bottle down upright.",
+    "Using the right arm, pick the handheld green bottle up, keep clear of the plastic shampoo container, place the handheld green bottle upright.",
+    "Take the bottle with white printed label, route it away from the oval-shaped shampoo bottle, and place the bottle with white printed label upright.",
+    "Pick up the bottle with white printed label, route it around the smooth white shampoo dispenser, then stand the bottle with white printed label upright.",
+    "With the right arm, lift the smooth green bottle, keep it away from the glossy white shampoo bottle, place the smooth green bottle upright.",
+    "With the right arm, pick up the medium-sized green bottle, steer away from the hand-sized shampoo bottle, and stand the medium-sized green bottle up.",
+    "Pick up the bottle with rounded neck, swing wide around the plastic shampoo container, and set the bottle with rounded neck upright.",
+    "Grab the medium green bottle, carry it around the glossy white shampoo bottle, then stand the medium green bottle upright.",
+    "Grab the smooth green plastic bottle, keep it away from the medium shampoo bottle, and put the smooth green plastic bottle down upright.",
+    "Grab the smooth green plastic bottle, steer it around the glossy white shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the white shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "Have the right arm grasp the handheld green bottle, avoid the shampoo bottle with pink cap while moving, and set the handheld green bottle upright.",
+    "Lift the green bottle with indented base, keep its path clear of the plastic shampoo container, then set the green bottle with indented base upright.",
+    "Direct the right arm to pick the bottle with rounded neck up, avoid the shampoo bottle with pink cap, and stand the bottle with rounded neck upright.",
+    "Take the smooth green bottle, move it without nearing the smooth white shampoo dispenser, and stand the smooth green bottle upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the glossy white shampoo bottle, and stand the smooth green plastic bottle upright.",
+    "Lift the smooth green bottle, guide it around the smooth white shampoo dispenser, then stand the smooth green bottle upright.",
+    "Lift the bottle with rounded neck, keep its path away from the shampoo dispenser with flat base, and set the bottle with rounded neck upright.",
+    "With the right arm, take the bottle with narrow top, pass outside the white body pink flip cap bottle, and put the bottle with narrow top upright.",
+    "Using the right arm, lift the smooth green plastic bottle, pass clear of the medium oval plastic shampoo container, then place the smooth green plastic bottle upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the shampoo dispenser with flat base, place the bottle with white printed label upright.",
+    "Grab the smooth green bottle, avoid the glossy white shampoo bottle while moving, then place the smooth green bottle upright.",
+    "With the right arm, take the bottle with ridges near base, avoid the white shampoo bottle while moving, and set the bottle with ridges near base upright.",
+    "Use the right arm to pick the smooth green bottle up, avoid the medium oval plastic shampoo container, and place the smooth green bottle upright.",
+    "Grab the bottle with white printed label, keep it from the smooth white shampoo dispenser, and set the bottle with white printed label upright.",
+    "With the right arm, pick the green bottle with indented base up, avoid the shampoo dispenser with flat base, and put the green bottle with indented base upright.",
+    "Lift the bottle with white printed label, route it around the pink-topped shampoo bottle, then set the bottle with white printed label upright.",
+    "Using the right arm, grasp the smooth green bottle, move it past the white shampoo bottle, then stand the smooth green bottle up.",
+    "Grab the medium green bottle with capped neck, move it without crossing the smooth white shampoo dispenser, then place the medium green bottle with capped neck upright.",
+    "Use the right arm to grab the smooth green plastic bottle, carry it away from the hand-sized shampoo bottle, set the smooth green plastic bottle upright.",
+    "Grip the green bottle with indented base with the right arm, keep distance from the glossy white shampoo bottle, then set the green bottle with indented base upright.",
+    "With the right arm, take the handheld green bottle up, steer past the pink-topped shampoo bottle, and place the handheld green bottle upright.",
+    "Move the medium-sized green bottle away from the shampoo dispenser with flat base as you lift, then place the medium-sized green bottle upright.",
+    "Use the right arm, raise the smooth green plastic bottle, keep distance from the pink-topped shampoo bottle, then place the smooth green plastic bottle upright.",
+    "Guide the right arm to take the handheld green bottle, bypass the shampoo bottle with pink cap, and place the handheld green bottle upright.",
+    "Pick up the smooth green plastic bottle with the right arm, keep it away from the pink-topped shampoo bottle, place the smooth green plastic bottle upright.",
+    "Using the right arm, lift the bottle with white printed label, keep clear of the glossy white shampoo bottle, and place the bottle with white printed label upright.",
+    "Take the bottle with rounded neck, keep clear of the smooth white shampoo dispenser, and place the bottle with rounded neck upright.",
+    "With the right arm, secure the bottle with ridges near base, pass around the hand-sized shampoo bottle, and set the bottle with ridges near base upright.",
+    "Use the right arm to lift the smooth green plastic bottle, avoid the pink-topped shampoo bottle en route, and stand the smooth green plastic bottle up.",
+    "Take the bottle with white printed label up, skirt the shampoo bottle with pink cap, and put the bottle with white printed label down upright.",
+    "Using the right arm, pick the handheld green bottle up, keep clear of the plastic shampoo container, place the handheld green bottle upright.",
+    "Take the bottle with white printed label, route it away from the shampoo bottle with pink cap, and place the bottle with white printed label upright.",
+    "Pick up the medium green bottle with capped neck, route it around the hand-sized shampoo bottle, then stand the medium green bottle with capped neck upright.",
+    "With the right arm, lift the handheld green bottle, keep it away from the hand-sized shampoo bottle, place the handheld green bottle upright.",
+    "With the right arm, pick up the green bottle with indented base, steer away from the medium shampoo bottle, and stand the green bottle with indented base up.",
+    "Pick up the bottle with white printed label, swing wide around the pink-topped shampoo bottle, and set the bottle with white printed label upright.",
+    "Grab the green bottle with indented base, carry it around the plastic shampoo container, then stand the green bottle with indented base upright.",
+    "Grab the plastic bottle, keep it away from the medium oval plastic shampoo container, and put the plastic bottle down upright.",
+    "Grab the medium green bottle, steer it around the oval-shaped shampoo bottle, and place the medium green bottle upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the plastic shampoo container, then set the medium green bottle with capped neck upright.",
+    "Have the right arm grasp the smooth green plastic bottle, avoid the pink-topped shampoo bottle while moving, and set the smooth green plastic bottle upright.",
+    "Lift the medium green bottle, keep its path clear of the white body pink flip cap bottle, then set the medium green bottle upright.",
+    "Direct the right arm to pick the medium-sized green bottle up, avoid the glossy white shampoo bottle, and stand the medium-sized green bottle upright.",
+    "Take the smooth green plastic bottle, move it without nearing the white shampoo bottle, and stand the smooth green plastic bottle upright.",
+    "Move the handheld green bottle from its spot, skirt the pink-topped shampoo bottle, and stand the handheld green bottle upright.",
+    "Lift the smooth green plastic bottle, guide it around the oval-shaped shampoo bottle, then stand the smooth green plastic bottle upright.",
+    "Lift the medium-sized green bottle, keep its path away from the medium shampoo bottle, and set the medium-sized green bottle upright.",
+    "With the right arm, take the smooth green bottle, pass outside the medium shampoo bottle, and put the smooth green bottle upright.",
+    "Using the right arm, lift the medium-sized green bottle, pass clear of the glossy white shampoo bottle, then place the medium-sized green bottle upright.",
+    "Pick the bottle with ridges near base up, keep its path clear of the white shampoo bottle, place the bottle with ridges near base upright.",
+    "Grab the smooth green plastic bottle, avoid the medium shampoo bottle while moving, then place the smooth green plastic bottle upright.",
+    "With the right arm, take the green bottle with indented base, avoid the white body pink flip cap bottle while moving, and set the green bottle with indented base upright.",
+    "Use the right arm to pick the medium-sized green bottle up, avoid the medium oval plastic shampoo container, and place the medium-sized green bottle upright.",
+    "Grab the bottle with white printed label, keep it from the white body pink flip cap bottle, and set the bottle with white printed label upright.",
+    "With the right arm, pick the smooth green bottle up, avoid the plastic shampoo container, and put the smooth green bottle upright.",
+    "Lift the medium green bottle, route it around the pink-topped shampoo bottle, then set the medium green bottle upright.",
+    "Using the right arm, grasp the green bottle with indented base, move it past the oval-shaped shampoo bottle, then stand the green bottle with indented base up.",
+    "Grab the plastic bottle, move it without crossing the hand-sized shampoo bottle, then place the plastic bottle upright."
+  ],
+  "unseen": [
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the Dove shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the bottle for holding shampoo, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo bottle with Dove logo, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the Dove shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the Dove shampoo bottle, and place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with Dove logo, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the Dove shampoo bottle, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the Dove shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the bottle for holding shampoo, and place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the Dove shampoo bottle, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the bottle for holding shampoo, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the Dove shampoo bottle, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the Dove shampoo bottle, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the Dove shampoo bottle, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with Dove logo, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the green bottle with white label, steer it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the Dove shampoo bottle, and set the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode65.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..8107d9031ea3319d05106b4b1f34826ee3fd68ab
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the Coca-Cola bottle, swing wide around the shampoo bottle with pink cap, and set the Coca-Cola bottle upright.",
+    "Using the right arm, lift the Coca-Cola bottle, pass clear of the white shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, guide it around the white body pink flip cap bottle, then stand the smooth bottle with red lid upright.",
+    "Lift the brown bottle with red label, route it around the shampoo dispenser with flat base, then set the brown bottle with red label upright.",
+    "Take the long thin bottle up, skirt the plastic shampoo container, and put the long thin bottle down upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the medium oval plastic shampoo container, and stand the dark drink bottle with logo upright.",
+    "Grab the dark drink bottle with logo, keep it from the pink-topped shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Use the right arm to pick the red-capped bottle up, avoid the shampoo bottle with pink cap, and place the red-capped bottle upright.",
+    "Lift the brown bottle with red label, route its path away from the pink-topped shampoo bottle, then set the brown bottle with red label upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the glossy white shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Pick up the plastic drink bottle, route it around the smooth white shampoo dispenser, then stand the plastic drink bottle upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the plastic shampoo container en route, and stand the red-capped bottle up.",
+    "Using the right arm, grasp the long thin bottle, move it past the white body pink flip cap bottle, then stand the long thin bottle up.",
+    "Take the Coca-Cola bottle, keep clear of the white body pink flip cap bottle, and place the Coca-Cola bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the white body pink flip cap bottle, and stand the bottle with white neck and red top upright.",
+    "With the right arm, secure the narrow-necked bottle, pass around the shampoo dispenser with flat base, and set the narrow-necked bottle upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the medium oval plastic shampoo container, place the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle with the right arm, keep it away from the shampoo dispenser with flat base, place the narrow-necked bottle upright.",
+    "Grab the red-capped bottle, steer it around the white body pink flip cap bottle, and place the red-capped bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the medium shampoo bottle, then stand the medium dark brown bottle upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the hand-sized shampoo bottle, and put the plastic drink bottle upright.",
+    "Have the right arm grasp the plastic drink bottle, avoid the oval-shaped shampoo bottle while moving, and set the plastic drink bottle upright.",
+    "Using the right arm, pick the Coca-Cola bottle up, keep clear of the plastic shampoo container, place the Coca-Cola bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the medium shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the smooth white shampoo dispenser, then set the bottle with ridges on bottom upright.",
+    "Guide the right arm to take the plastic drink bottle, bypass the shampoo dispenser with flat base, and place the plastic drink bottle upright.",
+    "Take the medium dark brown bottle, route it away from the smooth white shampoo dispenser, and place the medium dark brown bottle upright.",
+    "With the right arm, take the brown bottle with red label up, steer past the shampoo dispenser with flat base, and place the brown bottle with red label upright.",
+    "Grab the bottle with white neck and red top, keep it away from the smooth white shampoo dispenser, and put the bottle with white neck and red top down upright.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the glossy white shampoo bottle, and place the narrow-necked bottle upright.",
+    "Grip the smooth bottle with red lid with the right arm, keep distance from the pink-topped shampoo bottle, then set the smooth bottle with red lid upright.",
+    "With the right arm, take the medium dark brown bottle, pass outside the smooth white shampoo dispenser, and put the medium dark brown bottle upright.",
+    "With the right arm, pick up the dark drink bottle with logo, steer away from the white body pink flip cap bottle, and stand the dark drink bottle with logo up.",
+    "With the right arm, take the red-capped bottle, avoid the glossy white shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Use the right arm, raise the plastic drink bottle, keep distance from the shampoo bottle with pink cap, then place the plastic drink bottle upright.",
+    "Use the right arm to grab the red-capped bottle, carry it away from the white shampoo bottle, set the red-capped bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the smooth white shampoo dispenser, then place the plastic drink bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the plastic shampoo container, and set the plastic drink bottle upright.",
+    "With the right arm, lift the Coca-Cola bottle, keep it away from the shampoo dispenser with flat base, place the Coca-Cola bottle upright.",
+    "Move the narrow-necked bottle away from the white body pink flip cap bottle as you lift, then place the narrow-necked bottle upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the smooth white shampoo dispenser, and set the Coca-Cola bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, pass clear of the oval-shaped shampoo bottle, then place the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, guide it around the smooth white shampoo dispenser, then stand the bottle with white neck and red top upright.",
+    "Lift the bottle with white neck and red top, route it around the plastic shampoo container, then set the bottle with white neck and red top upright.",
+    "Take the medium dark brown bottle up, skirt the medium oval plastic shampoo container, and put the medium dark brown bottle down upright.",
+    "Direct the right arm to pick the plastic drink bottle up, avoid the white shampoo bottle, and stand the plastic drink bottle upright.",
+    "Grab the hand-sized soda bottle, keep it from the white body pink flip cap bottle, and set the hand-sized soda bottle upright.",
+    "Use the right arm to pick the bottle with ridges on bottom up, avoid the oval-shaped shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Lift the bottle with white neck and red top, route its path away from the pink-topped shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Take the brown bottle with red label, move it without nearing the glossy white shampoo bottle, and stand the brown bottle with red label upright.",
+    "Pick up the narrow-necked bottle, route it around the white body pink flip cap bottle, then stand the narrow-necked bottle upright.",
+    "Use the right arm to lift the narrow-necked bottle, avoid the pink-topped shampoo bottle en route, and stand the narrow-necked bottle up.",
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the hand-sized shampoo bottle, then stand the Coca-Cola bottle up.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo dispenser with flat base, and place the bottle with ridges on bottom upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the smooth white shampoo dispenser, and stand the bottle with ridges on bottom upright.",
+    "With the right arm, secure the Coca-Cola bottle, pass around the plastic shampoo container, and set the Coca-Cola bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the medium shampoo bottle, place the long thin bottle upright.",
+    "Pick up the plastic drink bottle with the right arm, keep it away from the shampoo dispenser with flat base, place the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, steer it around the glossy white shampoo bottle, and place the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the plastic shampoo container, then stand the smooth bottle with red lid upright.",
+    "With the right arm, pick the hand-sized soda bottle up, avoid the plastic shampoo container, and put the hand-sized soda bottle upright.",
+    "Have the right arm grasp the red-capped bottle, avoid the white body pink flip cap bottle while moving, and set the red-capped bottle upright.",
+    "Using the right arm, pick the bottle with ridges on bottom up, keep clear of the shampoo bottle with pink cap, place the bottle with ridges on bottom upright.",
+    "Grab the red-capped bottle, avoid the pink-topped shampoo bottle while moving, then place the red-capped bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the oval-shaped shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Guide the right arm to take the red-capped bottle, bypass the shampoo dispenser with flat base, and place the red-capped bottle upright.",
+    "Take the long thin bottle, route it away from the medium shampoo bottle, and place the long thin bottle upright.",
+    "With the right arm, take the bottle with ridges on bottom up, steer past the shampoo bottle with pink cap, and place the bottle with ridges on bottom upright.",
+    "Grab the brown bottle with red label, keep it away from the shampoo bottle with pink cap, and put the brown bottle with red label down upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the oval-shaped shampoo bottle, and place the brown bottle with red label upright.",
+    "Grip the hand-sized soda bottle with the right arm, keep distance from the white shampoo bottle, then set the hand-sized soda bottle upright.",
+    "With the right arm, take the Coca-Cola bottle, pass outside the smooth white shampoo dispenser, and put the Coca-Cola bottle upright.",
+    "With the right arm, pick up the smooth bottle with red lid, steer away from the shampoo dispenser with flat base, and stand the smooth bottle with red lid up.",
+    "With the right arm, take the medium dark brown bottle, avoid the oval-shaped shampoo bottle while moving, and set the medium dark brown bottle upright.",
+    "Use the right arm, raise the bottle with ridges on bottom, keep distance from the white shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Use the right arm to grab the bottle with white neck and red top, carry it away from the smooth white shampoo dispenser, set the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the shampoo dispenser with flat base, then place the Coca-Cola bottle upright.",
+    "Lift the red-capped bottle, keep its path away from the plastic shampoo container, and set the red-capped bottle upright.",
+    "With the right arm, lift the hand-sized soda bottle, keep it away from the shampoo dispenser with flat base, place the hand-sized soda bottle upright.",
+    "Move the plastic drink bottle away from the medium shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the shampoo dispenser with flat base, and set the dark drink bottle with logo upright.",
+    "Using the right arm, lift the brown bottle with red label, pass clear of the glossy white shampoo bottle, then place the brown bottle with red label upright.",
+    "Lift the hand-sized soda bottle, guide it around the oval-shaped shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the smooth white shampoo dispenser, then set the hand-sized soda bottle upright.",
+    "Take the red-capped bottle up, skirt the shampoo bottle with pink cap, and put the red-capped bottle down upright.",
+    "Direct the right arm to pick the plastic drink bottle up, avoid the plastic shampoo container, and stand the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, keep it from the medium oval plastic shampoo container, and set the dark drink bottle with logo upright.",
+    "Use the right arm to pick the long thin bottle up, avoid the hand-sized shampoo bottle, and place the long thin bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the smooth white shampoo dispenser, then set the bottle with ridges on bottom upright.",
+    "Take the smooth bottle with red lid, move it without nearing the white body pink flip cap bottle, and stand the smooth bottle with red lid upright.",
+    "Pick up the dark drink bottle with logo, route it around the oval-shaped shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the white body pink flip cap bottle en route, and stand the red-capped bottle up.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the medium oval plastic shampoo container, then stand the hand-sized soda bottle up.",
+    "Take the smooth bottle with red lid, keep clear of the smooth white shampoo dispenser, and place the smooth bottle with red lid upright.",
+    "Move the red-capped bottle from its spot, skirt the oval-shaped shampoo bottle, and stand the red-capped bottle upright.",
+    "With the right arm, secure the bottle with ridges on bottom, pass around the shampoo bottle with pink cap, and set the bottle with ridges on bottom upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the shampoo dispenser with flat base, place the Coca-Cola bottle upright.",
+    "Pick up the red-capped bottle with the right arm, keep it away from the white body pink flip cap bottle, place the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, steer it around the white body pink flip cap bottle, and place the Coca-Cola bottle upright.",
+    "Grab the long thin bottle, carry it around the plastic shampoo container, then stand the long thin bottle upright."
+  ],
+  "unseen": [
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode66.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e9aeeab4995d6d0297cd994086149d7138a293e
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the bottle with ridges near base, steer away from the white and blue shampoo container, and stand the bottle with ridges near base up.",
+    "With the left arm, take the smooth green bottle, avoid the bottle with smooth surface while moving, and set the smooth green bottle upright.",
+    "With the left arm, pick the bottle with ridges near base up, avoid the white shampoo bottle, and put the bottle with ridges near base upright.",
+    "Grab the smooth green plastic bottle, avoid the blue top shampoo bottle while moving, then place the smooth green plastic bottle upright.",
+    "Use the left arm, raise the smooth green bottle, keep distance from the handheld shampoo container, then place the smooth green bottle upright.",
+    "Using the left arm, grasp the smooth green plastic bottle, move it past the shampoo bottle with curved sides, then stand the smooth green plastic bottle up.",
+    "Pick up the medium-sized green bottle with the left arm, keep it away from the bottle with smooth surface, place the medium-sized green bottle upright.",
+    "Use the left arm to grab the handheld green bottle, carry it away from the curved shampoo bottle, set the handheld green bottle upright.",
+    "Guide the left arm to take the medium green bottle, bypass the medium-sized white plastic shampoo, and place the medium green bottle upright.",
+    "Using the left arm, lift the smooth green bottle, keep clear of the blue top shampoo bottle, and place the smooth green bottle upright.",
+    "Take the bottle with ridges near base, keep clear of the curved shampoo bottle, and place the bottle with ridges near base upright.",
+    "Pick the bottle with rounded neck up, keep its path clear of the white and blue shampoo container, place the bottle with rounded neck upright.",
+    "With the left arm, take the bottle with white printed label up, steer past the shampoo bottle with blue cap, and place the bottle with white printed label upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the handheld shampoo container, then set the medium green bottle with capped neck upright.",
+    "Take the medium green bottle with capped neck up, skirt the plastic shampoo with orange label, and put the medium green bottle with capped neck down upright.",
+    "Lift the bottle with rounded neck, keep its path away from the medium-sized white plastic shampoo, and set the bottle with rounded neck upright.",
+    "Have the left arm grasp the bottle with rounded neck, avoid the plastic shampoo bottle while moving, and set the bottle with rounded neck upright.",
+    "Pick up the medium-sized green bottle, swing wide around the curved shampoo bottle, and set the medium-sized green bottle upright.",
+    "With the left arm, take the medium-sized green bottle, pass outside the blue top shampoo bottle, and put the medium-sized green bottle upright.",
+    "Move the handheld green bottle away from the shampoo bottle with curved sides as you lift, then place the handheld green bottle upright.",
+    "Use the left arm to pick the green bottle with indented base up, avoid the white shampoo bottle, and place the green bottle with indented base upright.",
+    "Grab the medium-sized green bottle, move it without crossing the medium-sized white plastic shampoo, then place the medium-sized green bottle upright.",
+    "Grab the bottle with white printed label, keep it away from the plastic shampoo with orange label, and put the bottle with white printed label down upright.",
+    "Use the left arm to lift the smooth green plastic bottle, avoid the blue top shampoo bottle en route, and stand the smooth green plastic bottle up.",
+    "Grab the plastic bottle, carry it around the blue top shampoo bottle, then stand the plastic bottle upright.",
+    "Direct the left arm to pick the smooth green plastic bottle up, avoid the bottle with hexagonal blue cap, and stand the smooth green plastic bottle upright.",
+    "Take the bottle with narrow top, move it without nearing the blue top shampoo bottle, and stand the bottle with narrow top upright.",
+    "Grip the medium-sized green bottle with the left arm, keep distance from the white and blue shampoo container, then set the medium-sized green bottle upright.",
+    "Move the plastic bottle from its spot, skirt the bottle with hexagonal blue cap, and stand the plastic bottle upright.",
+    "With the left arm, secure the medium-sized green bottle, pass around the bottle with hexagonal blue cap, and set the medium-sized green bottle upright.",
+    "Using the left arm, lift the medium green bottle, pass clear of the curved shampoo bottle, then place the medium green bottle upright.",
+    "Lift the smooth green plastic bottle, route its path away from the shampoo bottle with blue cap, then set the smooth green plastic bottle upright.",
+    "Grab the handheld green bottle, keep it from the shampoo bottle with blue cap, and set the handheld green bottle upright.",
+    "Pick up the bottle with narrow top, route it around the shampoo bottle with curved sides, then stand the bottle with narrow top upright.",
+    "Grab the green bottle with indented base, steer it around the medium-sized white plastic shampoo, and place the green bottle with indented base upright.",
+    "With the left arm, lift the plastic bottle, keep it away from the handheld shampoo container, place the plastic bottle upright.",
+    "Take the bottle with white printed label, route it away from the plastic shampoo bottle, and place the bottle with white printed label upright.",
+    "Using the left arm, pick the handheld green bottle up, keep clear of the blue top shampoo bottle, place the handheld green bottle upright.",
+    "Lift the smooth green plastic bottle, guide it around the medium-sized white plastic shampoo, then stand the smooth green plastic bottle upright.",
+    "Lift the plastic bottle, route it around the handheld shampoo container, then set the plastic bottle upright.",
+    "With the left arm, pick up the medium green bottle with capped neck, steer away from the bottle with hexagonal blue cap, and stand the medium green bottle with capped neck up.",
+    "With the left arm, take the bottle with narrow top, avoid the shampoo bottle with blue cap while moving, and set the bottle with narrow top upright.",
+    "With the left arm, pick the green bottle with indented base up, avoid the shampoo bottle with curved sides, and put the green bottle with indented base upright.",
+    "Grab the plastic bottle, avoid the blue top shampoo bottle while moving, then place the plastic bottle upright.",
+    "Use the left arm, raise the medium green bottle with capped neck, keep distance from the bottle with hexagonal blue cap, then place the medium green bottle with capped neck upright.",
+    "Using the left arm, grasp the green bottle with indented base, move it past the blue top shampoo bottle, then stand the green bottle with indented base up.",
+    "Pick up the medium green bottle with capped neck with the left arm, keep it away from the shampoo bottle with curved sides, place the medium green bottle with capped neck upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the blue top shampoo bottle, set the bottle with white printed label upright.",
+    "Guide the left arm to take the green bottle with indented base, bypass the plastic shampoo bottle, and place the green bottle with indented base upright.",
+    "Using the left arm, lift the green bottle with indented base, keep clear of the white shampoo bottle, and place the green bottle with indented base upright.",
+    "Take the medium-sized green bottle, keep clear of the curved shampoo bottle, and place the medium-sized green bottle upright.",
+    "Pick the green bottle with indented base up, keep its path clear of the medium-sized white plastic shampoo, place the green bottle with indented base upright.",
+    "With the left arm, take the smooth green plastic bottle up, steer past the blue top shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the shampoo bottle with curved sides, then set the bottle with ridges near base upright.",
+    "Take the medium green bottle with capped neck up, skirt the handheld shampoo container, and put the medium green bottle with capped neck down upright.",
+    "Lift the plastic bottle, keep its path away from the white and blue shampoo container, and set the plastic bottle upright.",
+    "Have the left arm grasp the bottle with narrow top, avoid the shampoo bottle with blue cap while moving, and set the bottle with narrow top upright.",
+    "Pick up the medium green bottle, swing wide around the handheld shampoo container, and set the medium green bottle upright.",
+    "With the left arm, take the handheld green bottle, pass outside the shampoo bottle with curved sides, and put the handheld green bottle upright.",
+    "Move the bottle with ridges near base away from the shampoo bottle with curved sides as you lift, then place the bottle with ridges near base upright.",
+    "Use the left arm to pick the bottle with narrow top up, avoid the bottle with smooth surface, and place the bottle with narrow top upright.",
+    "Grab the green bottle with indented base, move it without crossing the blue top shampoo bottle, then place the green bottle with indented base upright.",
+    "Grab the medium green bottle with capped neck, keep it away from the blue top shampoo bottle, and put the medium green bottle with capped neck down upright.",
+    "Use the left arm to lift the smooth green bottle, avoid the shampoo bottle with curved sides en route, and stand the smooth green bottle up.",
+    "Grab the medium green bottle, carry it around the curved shampoo bottle, then stand the medium green bottle upright.",
+    "Direct the left arm to pick the green bottle with indented base up, avoid the shampoo bottle with curved sides, and stand the green bottle with indented base upright.",
+    "Take the smooth green plastic bottle, move it without nearing the handheld shampoo container, and stand the smooth green plastic bottle upright.",
+    "Grip the plastic bottle with the left arm, keep distance from the shampoo bottle with curved sides, then set the plastic bottle upright.",
+    "Move the handheld green bottle from its spot, skirt the shampoo bottle with blue cap, and stand the handheld green bottle upright.",
+    "With the left arm, secure the bottle with narrow top, pass around the shampoo bottle with blue cap, and set the bottle with narrow top upright.",
+    "Using the left arm, lift the medium green bottle with capped neck, pass clear of the white and blue shampoo container, then place the medium green bottle with capped neck upright.",
+    "Lift the handheld green bottle, route its path away from the white and blue shampoo container, then set the handheld green bottle upright.",
+    "Grab the bottle with white printed label, keep it from the medium-sized white plastic shampoo, and set the bottle with white printed label upright.",
+    "Pick up the bottle with rounded neck, route it around the shampoo bottle with blue cap, then stand the bottle with rounded neck upright.",
+    "Grab the bottle with rounded neck, steer it around the bottle with hexagonal blue cap, and place the bottle with rounded neck upright.",
+    "With the left arm, lift the medium green bottle with capped neck, keep it away from the medium-sized white plastic shampoo, place the medium green bottle with capped neck upright.",
+    "Take the bottle with rounded neck, route it away from the medium-sized white plastic shampoo, and place the bottle with rounded neck upright.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the plastic shampoo with orange label, place the bottle with white printed label upright.",
+    "Lift the smooth green bottle, guide it around the bottle with smooth surface, then stand the smooth green bottle upright.",
+    "Lift the medium green bottle with capped neck, route it around the curved shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "With the left arm, pick up the handheld green bottle, steer away from the handheld shampoo container, and stand the handheld green bottle up.",
+    "With the left arm, take the plastic bottle, avoid the white shampoo bottle while moving, and set the plastic bottle upright.",
+    "With the left arm, pick the bottle with ridges near base up, avoid the curved shampoo bottle, and put the bottle with ridges near base upright.",
+    "Grab the green bottle with indented base, avoid the white shampoo bottle while moving, then place the green bottle with indented base upright.",
+    "Use the left arm, raise the smooth green bottle, keep distance from the bottle with hexagonal blue cap, then place the smooth green bottle upright.",
+    "Using the left arm, grasp the bottle with rounded neck, move it past the blue top shampoo bottle, then stand the bottle with rounded neck up.",
+    "Pick up the plastic bottle with the left arm, keep it away from the plastic shampoo bottle, place the plastic bottle upright.",
+    "Use the left arm to grab the medium green bottle, carry it away from the plastic shampoo bottle, set the medium green bottle upright.",
+    "Guide the left arm to take the smooth green plastic bottle, bypass the shampoo bottle with blue cap, and place the smooth green plastic bottle upright.",
+    "Using the left arm, lift the bottle with ridges near base, keep clear of the plastic shampoo with orange label, and place the bottle with ridges near base upright.",
+    "Take the green bottle with indented base, keep clear of the bottle with hexagonal blue cap, and place the green bottle with indented base upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the white and blue shampoo container, place the bottle with white printed label upright.",
+    "With the left arm, take the smooth green plastic bottle up, steer past the shampoo bottle with curved sides, and place the smooth green plastic bottle upright.",
+    "Lift the bottle with narrow top, keep its path clear of the plastic shampoo with orange label, then set the bottle with narrow top upright.",
+    "Take the plastic bottle up, skirt the curved shampoo bottle, and put the plastic bottle down upright.",
+    "Lift the handheld green bottle, keep its path away from the blue top shampoo bottle, and set the handheld green bottle upright.",
+    "Have the left arm grasp the medium green bottle with capped neck, avoid the plastic shampoo with orange label while moving, and set the medium green bottle with capped neck upright.",
+    "Pick up the bottle with ridges near base, swing wide around the shampoo bottle with curved sides, and set the bottle with ridges near base upright.",
+    "With the left arm, take the medium green bottle, pass outside the bottle with hexagonal blue cap, and put the medium green bottle upright.",
+    "Move the bottle with white printed label away from the shampoo bottle with curved sides as you lift, then place the bottle with white printed label upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the white shampoo with orange design, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the shampoo container in white and blue, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the white shampoo with orange design, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode67.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..875699fbe7a2a58cceb0a5550b670ccdf3156cce
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the white and blue shampoo container, place the hand-sized soda bottle upright.",
+    "Guide the left arm to take the bottle with ridges on bottom, bypass the bottle with hexagonal blue cap, and place the bottle with ridges on bottom upright.",
+    "Grab the red-capped bottle, keep it from the white shampoo bottle, and set the red-capped bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the shampoo bottle with curved sides, and set the dark drink bottle with logo upright.",
+    "With the left arm, take the narrow-necked bottle up, steer past the bottle with smooth surface, and place the narrow-necked bottle upright.",
+    "Take the red-capped bottle up, skirt the plastic shampoo with orange label, and put the red-capped bottle down upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the blue top shampoo bottle, then stand the medium dark brown bottle up.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the curved shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the shampoo bottle with curved sides, and place the smooth bottle with red lid upright.",
+    "Grab the narrow-necked bottle, carry it around the blue top shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the shampoo bottle with blue cap, set the bottle with white neck and red top upright.",
+    "Lift the smooth bottle with red lid, route it around the plastic shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Lift the narrow-necked bottle, guide it around the handheld shampoo container, then stand the narrow-necked bottle upright.",
+    "Move the long thin bottle away from the white shampoo bottle as you lift, then place the long thin bottle upright.",
+    "Lift the medium dark brown bottle, keep its path clear of the white and blue shampoo container, then set the medium dark brown bottle upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the shampoo bottle with blue cap, place the red-capped bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the shampoo bottle with blue cap, and stand the medium dark brown bottle up.",
+    "Take the long thin bottle, route it away from the shampoo bottle with curved sides, and place the long thin bottle upright.",
+    "Grab the long thin bottle, steer it around the blue top shampoo bottle, and place the long thin bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the shampoo bottle with blue cap, then stand the hand-sized soda bottle upright.",
+    "Use the left arm, raise the red-capped bottle, keep distance from the plastic shampoo with orange label, then place the red-capped bottle upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the bottle with smooth surface while moving, and set the brown bottle with red label upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the curved shampoo bottle, place the Coca-Cola bottle upright.",
+    "Grab the Coca-Cola bottle, avoid the medium-sized white plastic shampoo while moving, then place the Coca-Cola bottle upright.",
+    "With the left arm, take the red-capped bottle, pass outside the plastic shampoo bottle, and put the red-capped bottle upright.",
+    "Take the medium dark brown bottle, keep clear of the bottle with smooth surface, and place the medium dark brown bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the bottle with hexagonal blue cap while moving, and set the smooth bottle with red lid upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the medium-sized white plastic shampoo, and set the bottle with white neck and red top upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the bottle with hexagonal blue cap, and put the medium dark brown bottle upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the plastic shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Take the hand-sized soda bottle, move it without nearing the bottle with smooth surface, and stand the hand-sized soda bottle upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the bottle with hexagonal blue cap, and stand the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the shampoo bottle with blue cap, then place the Coca-Cola bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the bottle with smooth surface, and set the medium dark brown bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the plastic shampoo with orange label, then place the brown bottle with red label upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the plastic shampoo bottle, place the long thin bottle upright.",
+    "Use the left arm to lift the red-capped bottle, avoid the medium-sized white plastic shampoo en route, and stand the red-capped bottle up.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle with curved sides, and put the dark drink bottle with logo down upright.",
+    "Lift the hand-sized soda bottle, route its path away from the plastic shampoo with orange label, then set the hand-sized soda bottle upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the plastic shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the blue top shampoo bottle, place the hand-sized soda bottle upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the handheld shampoo container, and place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, keep it from the white and blue shampoo container, and set the brown bottle with red label upright.",
+    "Pick up the brown bottle with red label, swing wide around the bottle with hexagonal blue cap, and set the brown bottle with red label upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the shampoo bottle with curved sides, and place the smooth bottle with red lid upright.",
+    "Take the brown bottle with red label up, skirt the curved shampoo bottle, and put the brown bottle with red label down upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the plastic shampoo bottle, then stand the bottle with ridges on bottom up.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the shampoo bottle with blue cap, and place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the shampoo bottle with blue cap, and place the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the medium-sized white plastic shampoo, then stand the smooth bottle with red lid upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the plastic shampoo with orange label, set the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, route it around the curved shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Lift the bottle with white neck and red top, guide it around the shampoo bottle with blue cap, then stand the bottle with white neck and red top upright.",
+    "Move the narrow-necked bottle away from the white shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the blue top shampoo bottle, then set the narrow-necked bottle upright.",
+    "With the left arm, lift the plastic drink bottle, keep it away from the shampoo bottle with curved sides, place the plastic drink bottle upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the plastic shampoo bottle, and stand the hand-sized soda bottle up.",
+    "Take the smooth bottle with red lid, route it away from the bottle with smooth surface, and place the smooth bottle with red lid upright.",
+    "Grab the dark drink bottle with logo, steer it around the plastic shampoo with orange label, and place the dark drink bottle with logo upright.",
+    "Pick up the long thin bottle, route it around the plastic shampoo bottle, then stand the long thin bottle upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the shampoo bottle with curved sides, then place the dark drink bottle with logo upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the plastic shampoo with orange label while moving, and set the hand-sized soda bottle upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the shampoo bottle with blue cap, place the brown bottle with red label upright.",
+    "Grab the smooth bottle with red lid, avoid the shampoo bottle with blue cap while moving, then place the smooth bottle with red lid upright.",
+    "With the left arm, take the red-capped bottle, pass outside the bottle with hexagonal blue cap, and put the red-capped bottle upright.",
+    "Take the narrow-necked bottle, keep clear of the shampoo bottle with curved sides, and place the narrow-necked bottle upright.",
+    "With the left arm, take the red-capped bottle, avoid the plastic shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the bottle with hexagonal blue cap, and set the dark drink bottle with logo upright.",
+    "With the left arm, pick the long thin bottle up, avoid the handheld shampoo container, and put the long thin bottle upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the white shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Take the long thin bottle, move it without nearing the plastic shampoo bottle, and stand the long thin bottle upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the handheld shampoo container, and stand the bottle with white neck and red top upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the curved shampoo bottle, then place the smooth bottle with red lid upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the handheld shampoo container, and set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, pass clear of the plastic shampoo bottle, then place the plastic drink bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the shampoo bottle with blue cap, place the brown bottle with red label upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the bottle with smooth surface en route, and stand the bottle with white neck and red top up.",
+    "Grab the red-capped bottle, keep it away from the white and blue shampoo container, and put the red-capped bottle down upright.",
+    "Lift the brown bottle with red label, route its path away from the medium-sized white plastic shampoo, then set the brown bottle with red label upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the shampoo bottle with curved sides, and stand the smooth bottle with red lid upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the white and blue shampoo container, place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the smooth bottle with red lid, bypass the shampoo bottle with curved sides, and place the smooth bottle with red lid upright.",
+    "Grab the bottle with ridges on bottom, keep it from the bottle with smooth surface, and set the bottle with ridges on bottom upright.",
+    "Pick up the narrow-necked bottle, swing wide around the white shampoo bottle, and set the narrow-necked bottle upright.",
+    "With the left arm, take the long thin bottle up, steer past the white shampoo bottle, and place the long thin bottle upright.",
+    "Take the plastic drink bottle up, skirt the white shampoo bottle, and put the plastic drink bottle down upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the blue top shampoo bottle, then stand the red-capped bottle up.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the plastic shampoo with orange label, and place the hand-sized soda bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the plastic shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, carry it around the curved shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the handheld shampoo container, set the bottle with ridges on bottom upright.",
+    "Lift the plastic drink bottle, route it around the curved shampoo bottle, then set the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the bottle with smooth surface, then stand the bottle with white neck and red top upright.",
+    "Move the narrow-necked bottle away from the blue top shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the plastic shampoo bottle, then set the hand-sized soda bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the shampoo bottle with curved sides, place the hand-sized soda bottle upright.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the bottle with smooth surface, and stand the Coca-Cola bottle up.",
+    "Take the hand-sized soda bottle, route it away from the shampoo bottle with curved sides, and place the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, steer it around the bottle with hexagonal blue cap, and place the dark drink bottle with logo upright.",
+    "Pick up the medium dark brown bottle, route it around the blue top shampoo bottle, then stand the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white shampoo with orange design, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode68.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..85fdce17b3d2417c35e0e3cf0a6281322844840f
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, lift the smooth bottle with red lid, keep it away from the blue shampoo bottle, place the smooth bottle with red lid upright.",
+    "Grab the narrow-necked bottle, carry it around the small smooth shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the shampoo bottle with white cap, and set the plastic drink bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the light blue shampoo bottle small size, and place the narrow-necked bottle upright.",
+    "Using the right arm, lift the hand-sized soda bottle, pass clear of the shampoo bottle with white cap, then place the hand-sized soda bottle upright.",
+    "Take the brown bottle with red label, move it without nearing the bottle of shampoo, and stand the brown bottle with red label upright.",
+    "Use the right arm to pick the plastic drink bottle up, avoid the shampoo bottle with matte plastic, and place the plastic drink bottle upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the shampoo bottle with white cap while moving, and set the medium dark brown bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the blue shampoo bottle slender design, and stand the Coca-Cola bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the shampoo bottle with matte plastic, then set the bottle with ridges on bottom upright.",
+    "Direct the right arm to pick the narrow-necked bottle up, avoid the curved light blue shampoo bottle, and stand the narrow-necked bottle upright.",
+    "With the right arm, take the Coca-Cola bottle up, steer past the shampoo bottle with matte plastic, and place the Coca-Cola bottle upright.",
+    "With the right arm, pick up the medium dark brown bottle, steer away from the hand-sized shampoo bottle, and stand the medium dark brown bottle up.",
+    "Pick up the brown bottle with red label, route it around the shampoo bottle flat bottom edge, then stand the brown bottle with red label upright.",
+    "Grab the medium dark brown bottle, keep it away from the shampoo bottle tapered toward cap, and put the medium dark brown bottle down upright.",
+    "Take the narrow-necked bottle up, skirt the shampoo bottle with matte plastic, and put the narrow-necked bottle down upright.",
+    "Lift the hand-sized soda bottle, route it around the light blue shampoo bottle small size, then set the hand-sized soda bottle upright.",
+    "Using the right arm, pick the bottle with ridges on bottom up, keep clear of the shampoo bottle flat bottom edge, place the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the Coca-Cola bottle, avoid the bottle light blue rounded shape while moving, and set the Coca-Cola bottle upright.",
+    "Grip the brown bottle with red label with the right arm, keep distance from the curved light blue shampoo bottle, then set the brown bottle with red label upright.",
+    "Use the right arm, raise the smooth bottle with red lid, keep distance from the shampoo bottle flat bottom edge, then place the smooth bottle with red lid upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the curved light blue shampoo bottle, place the medium dark brown bottle upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the shampoo bottle tapered toward cap, and set the bottle with white neck and red top upright.",
+    "Grab the red-capped bottle, avoid the blue shampoo bottle while moving, then place the red-capped bottle upright.",
+    "Pick up the red-capped bottle with the right arm, keep it away from the blue shampoo bottle slender design, place the red-capped bottle upright.",
+    "Move the plastic drink bottle away from the blue shampoo bottle as you lift, then place the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the small smooth shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Grab the bottle with ridges on bottom, keep it from the curved light blue shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Guide the right arm to take the long thin bottle, bypass the hand-sized shampoo bottle, and place the long thin bottle upright.",
+    "With the right arm, take the narrow-necked bottle, pass outside the shampoo bottle with white cap, and put the narrow-necked bottle upright.",
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the shampoo bottle with matte plastic, then stand the Coca-Cola bottle up.",
+    "Take the plastic drink bottle, route it away from the bottle light blue rounded shape, and place the plastic drink bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the shampoo bottle flat bottom edge, and set the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle, keep clear of the shampoo bottle flat bottom edge, and place the medium dark brown bottle upright.",
+    "Lift the brown bottle with red label, keep its path clear of the bottle light blue rounded shape, then set the brown bottle with red label upright.",
+    "Use the right arm to lift the bottle with ridges on bottom, avoid the bottle of shampoo en route, and stand the bottle with ridges on bottom up.",
+    "Lift the bottle with white neck and red top, guide it around the light blue shampoo bottle small size, then stand the bottle with white neck and red top upright.",
+    "Use the right arm to grab the red-capped bottle, carry it away from the blue shampoo bottle, set the red-capped bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the bottle light blue rounded shape, and place the bottle with white neck and red top upright.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the shampoo bottle flat bottom edge, and put the medium dark brown bottle upright.",
+    "With the right arm, lift the narrow-necked bottle, keep it away from the bottle light blue rounded shape, place the narrow-necked bottle upright.",
+    "Grab the hand-sized soda bottle, carry it around the hand-sized shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the bottle light blue rounded shape, and set the hand-sized soda bottle upright.",
+    "Using the right arm, lift the hand-sized soda bottle, keep clear of the blue shampoo bottle slender design, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the long thin bottle, pass clear of the shampoo bottle with matte plastic, then place the long thin bottle upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the bottle light blue rounded shape, and stand the bottle with ridges on bottom upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the light blue shampoo bottle small size, and place the dark drink bottle with logo upright.",
+    "With the right arm, take the red-capped bottle, avoid the small smooth shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the shampoo bottle flat bottom edge, and stand the bottle with ridges on bottom upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle tapered toward cap, then set the hand-sized soda bottle upright.",
+    "Direct the right arm to pick the bottle with white neck and red top up, avoid the curved light blue shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "With the right arm, take the plastic drink bottle up, steer past the blue shampoo bottle, and place the plastic drink bottle upright.",
+    "With the right arm, pick up the medium dark brown bottle, steer away from the shampoo bottle flat bottom edge, and stand the medium dark brown bottle up.",
+    "Pick up the bottle with white neck and red top, route it around the light blue shampoo bottle small size, then stand the bottle with white neck and red top upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle tapered toward cap, and put the narrow-necked bottle down upright.",
+    "Take the hand-sized soda bottle up, skirt the bottle of shampoo, and put the hand-sized soda bottle down upright.",
+    "Lift the smooth bottle with red lid, route it around the blue shampoo bottle slender design, then set the smooth bottle with red lid upright.",
+    "Using the right arm, pick the medium dark brown bottle up, keep clear of the shampoo bottle with matte plastic, place the medium dark brown bottle upright.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the shampoo bottle with white cap while moving, and set the bottle with ridges on bottom upright.",
+    "Grip the dark drink bottle with logo with the right arm, keep distance from the blue shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Use the right arm, raise the plastic drink bottle, keep distance from the shampoo bottle tapered toward cap, then place the plastic drink bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the curved light blue shampoo bottle, place the long thin bottle upright.",
+    "With the right arm, secure the medium dark brown bottle, pass around the blue shampoo bottle, and set the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, avoid the curved light blue shampoo bottle while moving, then place the hand-sized soda bottle upright.",
+    "Pick up the bottle with ridges on bottom with the right arm, keep it away from the light blue shampoo bottle small size, place the bottle with ridges on bottom upright.",
+    "Move the plastic drink bottle away from the shampoo bottle with white cap as you lift, then place the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the curved light blue shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Grab the dark drink bottle with logo, keep it from the bottle light blue rounded shape, and set the dark drink bottle with logo upright.",
+    "Guide the right arm to take the red-capped bottle, bypass the blue shampoo bottle slender design, and place the red-capped bottle upright.",
+    "With the right arm, take the red-capped bottle, pass outside the bottle light blue rounded shape, and put the red-capped bottle upright.",
+    "Using the right arm, grasp the dark drink bottle with logo, move it past the shampoo bottle tapered toward cap, then stand the dark drink bottle with logo up.",
+    "Take the bottle with ridges on bottom, route it away from the shampoo bottle flat bottom edge, and place the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, keep its path away from the small smooth shampoo bottle, and set the long thin bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the small smooth shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, keep its path clear of the bottle light blue rounded shape, then set the red-capped bottle upright.",
+    "Use the right arm to lift the Coca-Cola bottle, avoid the blue shampoo bottle en route, and stand the Coca-Cola bottle up.",
+    "Lift the red-capped bottle, guide it around the blue shampoo bottle, then stand the red-capped bottle upright.",
+    "Use the right arm to grab the bottle with ridges on bottom, carry it away from the shampoo bottle tapered toward cap, set the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, steer it around the blue shampoo bottle slender design, and place the hand-sized soda bottle upright.",
+    "With the right arm, pick the brown bottle with red label up, avoid the small smooth shampoo bottle, and put the brown bottle with red label upright.",
+    "With the right arm, lift the red-capped bottle, keep it away from the shampoo bottle with white cap, place the red-capped bottle upright.",
+    "Grab the brown bottle with red label, carry it around the bottle light blue rounded shape, then stand the brown bottle with red label upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the light blue shampoo bottle small size, and set the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the hand-sized soda bottle, keep clear of the curved light blue shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the red-capped bottle, pass clear of the blue shampoo bottle, then place the red-capped bottle upright.",
+    "Take the Coca-Cola bottle, move it without nearing the shampoo bottle with matte plastic, and stand the Coca-Cola bottle upright.",
+    "Use the right arm to pick the narrow-necked bottle up, avoid the blue shampoo bottle, and place the narrow-necked bottle upright.",
+    "With the right arm, take the smooth bottle with red lid, avoid the blue shampoo bottle slender design while moving, and set the smooth bottle with red lid upright.",
+    "Move the brown bottle with red label from its spot, skirt the bottle light blue rounded shape, and stand the brown bottle with red label upright.",
+    "Lift the Coca-Cola bottle, route its path away from the shampoo bottle flat bottom edge, then set the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the long thin bottle up, avoid the bottle of shampoo, and stand the long thin bottle upright.",
+    "With the right arm, take the plastic drink bottle up, steer past the bottle of shampoo, and place the plastic drink bottle upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the bottle light blue rounded shape, and stand the Coca-Cola bottle up.",
+    "Pick up the bottle with white neck and red top, route it around the shampoo bottle tapered toward cap, then stand the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, keep it away from the bottle of shampoo, and put the Coca-Cola bottle down upright.",
+    "Take the smooth bottle with red lid up, skirt the light blue shampoo bottle small size, and put the smooth bottle with red lid down upright.",
+    "Lift the plastic drink bottle, route it around the shampoo bottle with matte plastic, then set the plastic drink bottle upright.",
+    "Using the right arm, pick the bottle with ridges on bottom up, keep clear of the blue shampoo bottle slender design, place the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the shampoo bottle flat bottom edge while moving, and set the bottle with ridges on bottom upright.",
+    "Grip the bottle with ridges on bottom with the right arm, keep distance from the shampoo bottle flat bottom edge, then set the bottle with ridges on bottom upright."
+  ],
+  "unseen": [
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode69.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec084055a846b9460c56f73554d4aedb14566e80
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, grasp the medium dark brown bottle, move it past the smooth pink plastic shampoo bottle, then stand the medium dark brown bottle up.",
+    "Grab the red-capped bottle, keep it from the pink shampoo container with pump top, and set the red-capped bottle upright.",
+    "With the right arm, secure the medium dark brown bottle, pass around the rectangular pink shampoo container, and set the medium dark brown bottle upright.",
+    "Take the plastic drink bottle, keep clear of the pink shampoo bottle, and place the plastic drink bottle upright.",
+    "Use the right arm to grab the red-capped bottle, carry it away from the hand-sized pink shampoo container, set the red-capped bottle upright.",
+    "Lift the narrow-necked bottle, guide it around the pink bottle with narrow top, then stand the narrow-necked bottle upright.",
+    "Take the bottle with ridges on bottom, route it away from the rectangular pink bottle with dispenser, and place the bottle with ridges on bottom upright.",
+    "With the right arm, take the brown bottle with red label, avoid the pink bottle with narrow top while moving, and set the brown bottle with red label upright.",
+    "Pick up the narrow-necked bottle with the right arm, keep it away from the shampoo bottle with rectangular shape, place the narrow-necked bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the pink bottle with black dispenser, and put the bottle with ridges on bottom down upright.",
+    "Grab the hand-sized soda bottle, keep it away from the shampoo bottle with rectangular shape, and put the hand-sized soda bottle down upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the shampoo bottle with rectangular shape, then set the narrow-necked bottle upright.",
+    "Using the right arm, lift the narrow-necked bottle, pass clear of the hand-sized pink shampoo container, then place the narrow-necked bottle upright.",
+    "Lift the long thin bottle, route its path away from the rectangular pink shampoo container, then set the long thin bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the shampoo bottle with rectangular shape, and set the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the rectangular pink shampoo container, then stand the bottle with white neck and red top upright.",
+    "Use the right arm, raise the hand-sized soda bottle, keep distance from the rectangular pink bottle with dispenser, then place the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the pink shampoo container with pump top, and place the bottle with white neck and red top upright.",
+    "With the right arm, take the bottle with white neck and red top, pass outside the medium pink bottle for shampoo, and put the bottle with white neck and red top upright.",
+    "Move the bottle with ridges on bottom away from the pink bottle with narrow top as you lift, then place the bottle with ridges on bottom upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the rectangular pink shampoo container, place the Coca-Cola bottle upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the smooth pink plastic shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Move the brown bottle with red label from its spot, skirt the smooth pink plastic shampoo bottle, and stand the brown bottle with red label upright.",
+    "Pick up the plastic drink bottle, swing wide around the pink bottle with black dispenser, and set the plastic drink bottle upright.",
+    "Grab the red-capped bottle, move it without crossing the medium pink bottle for shampoo, then place the red-capped bottle upright.",
+    "With the right arm, lift the long thin bottle, keep it away from the medium pink bottle for shampoo, place the long thin bottle upright.",
+    "Direct the right arm to pick the plastic drink bottle up, avoid the smooth pink plastic shampoo bottle, and stand the plastic drink bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the shampoo bottle with shiny pink body, then set the Coca-Cola bottle upright.",
+    "With the right arm, pick the bottle with ridges on bottom up, avoid the pink shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Guide the right arm to take the red-capped bottle, bypass the pink shampoo container with pump top, and place the red-capped bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the hand-sized pink shampoo container, and stand the narrow-necked bottle upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the pink shampoo bottle, and stand the Coca-Cola bottle up.",
+    "Using the right arm, pick the long thin bottle up, keep clear of the hand-sized pink shampoo container, place the long thin bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the medium pink bottle for shampoo, then stand the smooth bottle with red lid upright.",
+    "Grip the bottle with ridges on bottom with the right arm, keep distance from the pink bottle with narrow top, then set the bottle with ridges on bottom upright.",
+    "Use the right arm to lift the dark drink bottle with logo, avoid the medium pink bottle for shampoo en route, and stand the dark drink bottle with logo up.",
+    "Using the right arm, lift the narrow-necked bottle, keep clear of the shampoo bottle with rectangular shape, and place the narrow-necked bottle upright.",
+    "Have the right arm grasp the bottle with ridges on bottom, avoid the rectangular pink shampoo container while moving, and set the bottle with ridges on bottom upright.",
+    "Grab the smooth bottle with red lid, avoid the smooth pink plastic shampoo bottle while moving, then place the smooth bottle with red lid upright.",
+    "With the right arm, take the brown bottle with red label up, steer past the hand-sized pink shampoo container, and place the brown bottle with red label upright.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the rectangular pink bottle with dispenser, then stand the hand-sized soda bottle up.",
+    "Grab the bottle with ridges on bottom, keep it from the pink bottle with narrow top, and set the bottle with ridges on bottom upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the rectangular pink shampoo container, and set the bottle with white neck and red top upright.",
+    "Take the brown bottle with red label, keep clear of the pink shampoo container with pump top, and place the brown bottle with red label upright.",
+    "Use the right arm to grab the brown bottle with red label, carry it away from the rectangular pink shampoo container, set the brown bottle with red label upright.",
+    "Lift the red-capped bottle, guide it around the pink shampoo bottle, then stand the red-capped bottle upright.",
+    "Take the narrow-necked bottle, route it away from the pink shampoo container with pump top, and place the narrow-necked bottle upright.",
+    "With the right arm, take the long thin bottle, avoid the plastic shampoo bottle with black pump while moving, and set the long thin bottle upright.",
+    "Pick up the hand-sized soda bottle with the right arm, keep it away from the rectangular pink bottle with dispenser, place the hand-sized soda bottle upright.",
+    "Take the bottle with white neck and red top up, skirt the rectangular pink shampoo container, and put the bottle with white neck and red top down upright.",
+    "Grab the red-capped bottle, keep it away from the plastic shampoo bottle with black pump, and put the red-capped bottle down upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the medium pink bottle for shampoo, then set the hand-sized soda bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, pass clear of the smooth pink plastic shampoo bottle, then place the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, route its path away from the rectangular pink bottle with dispenser, then set the bottle with white neck and red top upright.",
+    "Lift the red-capped bottle, keep its path away from the shampoo bottle with rectangular shape, and set the red-capped bottle upright.",
+    "Grab the narrow-necked bottle, carry it around the shampoo bottle with shiny pink body, then stand the narrow-necked bottle upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the rectangular pink bottle with dispenser, then place the Coca-Cola bottle upright.",
+    "Grab the dark drink bottle with logo, steer it around the pink bottle with narrow top, and place the dark drink bottle with logo upright.",
+    "With the right arm, take the smooth bottle with red lid, pass outside the pink bottle with black dispenser, and put the smooth bottle with red lid upright.",
+    "Move the bottle with ridges on bottom away from the pink shampoo container with pump top as you lift, then place the bottle with ridges on bottom upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the shampoo bottle with shiny pink body, place the smooth bottle with red lid upright.",
+    "Use the right arm to pick the red-capped bottle up, avoid the hand-sized pink shampoo container, and place the red-capped bottle upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the plastic shampoo bottle with black pump, and stand the smooth bottle with red lid upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the shampoo bottle with shiny pink body, and set the Coca-Cola bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the rectangular pink shampoo container, then place the brown bottle with red label upright.",
+    "With the right arm, lift the medium dark brown bottle, keep it away from the smooth pink plastic shampoo bottle, place the medium dark brown bottle upright.",
+    "Direct the right arm to pick the medium dark brown bottle up, avoid the rectangular pink shampoo container, and stand the medium dark brown bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the plastic shampoo bottle with black pump, then set the hand-sized soda bottle upright.",
+    "With the right arm, pick the bottle with ridges on bottom up, avoid the rectangular pink shampoo container, and put the bottle with ridges on bottom upright.",
+    "Guide the right arm to take the red-capped bottle, bypass the pink shampoo container with pump top, and place the red-capped bottle upright.",
+    "Take the hand-sized soda bottle, move it without nearing the rectangular pink bottle with dispenser, and stand the hand-sized soda bottle upright.",
+    "With the right arm, pick up the plastic drink bottle, steer away from the hand-sized pink shampoo container, and stand the plastic drink bottle up.",
+    "Using the right arm, pick the hand-sized soda bottle up, keep clear of the rectangular pink bottle with dispenser, place the hand-sized soda bottle upright.",
+    "Pick up the long thin bottle, route it around the shampoo bottle with shiny pink body, then stand the long thin bottle upright.",
+    "Grip the Coca-Cola bottle with the right arm, keep distance from the medium pink bottle for shampoo, then set the Coca-Cola bottle upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the medium pink bottle for shampoo en route, and stand the red-capped bottle up.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the plastic shampoo bottle with black pump, and place the brown bottle with red label upright.",
+    "Have the right arm grasp the bottle with white neck and red top, avoid the rectangular pink shampoo container while moving, and set the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, avoid the hand-sized pink shampoo container while moving, then place the bottle with white neck and red top upright.",
+    "With the right arm, take the bottle with white neck and red top up, steer past the rectangular pink bottle with dispenser, and place the bottle with white neck and red top upright.",
+    "Using the right arm, grasp the Coca-Cola bottle, move it past the rectangular pink shampoo container, then stand the Coca-Cola bottle up.",
+    "Grab the hand-sized soda bottle, keep it from the pink shampoo container with pump top, and set the hand-sized soda bottle upright.",
+    "With the right arm, secure the Coca-Cola bottle, pass around the rectangular pink bottle with dispenser, and set the Coca-Cola bottle upright.",
+    "Take the medium dark brown bottle, keep clear of the rectangular pink bottle with dispenser, and place the medium dark brown bottle upright.",
+    "Use the right arm to grab the Coca-Cola bottle, carry it away from the hand-sized pink shampoo container, set the Coca-Cola bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the shampoo bottle with shiny pink body, then stand the dark drink bottle with logo upright.",
+    "Take the medium dark brown bottle, route it away from the pink shampoo container with pump top, and place the medium dark brown bottle upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the hand-sized pink shampoo container while moving, and set the medium dark brown bottle upright.",
+    "Pick up the dark drink bottle with logo with the right arm, keep it away from the smooth pink plastic shampoo bottle, place the dark drink bottle with logo upright.",
+    "Take the Coca-Cola bottle up, skirt the medium pink bottle for shampoo, and put the Coca-Cola bottle down upright.",
+    "Grab the Coca-Cola bottle, keep it away from the pink bottle with black dispenser, and put the Coca-Cola bottle down upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the pink shampoo container with pump top, then set the bottle with ridges on bottom upright.",
+    "Using the right arm, lift the dark drink bottle with logo, pass clear of the smooth pink plastic shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Lift the bottle with white neck and red top, route its path away from the medium pink bottle for shampoo, then set the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, keep its path away from the medium pink bottle for shampoo, and set the narrow-necked bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the pink shampoo container with pump top, then stand the bottle with white neck and red top upright.",
+    "Use the right arm, raise the hand-sized soda bottle, keep distance from the hand-sized pink shampoo container, then place the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the plastic shampoo bottle with black pump, and place the bottle with white neck and red top upright.",
+    "With the right arm, take the dark drink bottle with logo, pass outside the smooth pink plastic shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Move the bottle with white neck and red top away from the hand-sized pink shampoo container as you lift, then place the bottle with white neck and red top upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the plastic pink shampoo bottle, and place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the plastic pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the glossy pink shampoo bottle, and place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the glossy pink shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with black pump, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the plastic pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with black pump, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the plastic pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with black pump, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with black pump, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with black pump, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the plastic pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with black pump, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with black pump, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with black pump, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with black pump, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the glossy pink shampoo bottle, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the glossy pink shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the plastic pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the glossy pink shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with black pump, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the glossy pink shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with black pump, and place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the glossy pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the glossy pink shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the plastic pink shampoo bottle, and place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the plastic pink shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the glossy pink shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the plastic pink shampoo bottle, then place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the glossy pink shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the shampoo bottle with black pump, and place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the plastic pink shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the plastic pink shampoo bottle, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode7.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd921ede3e3858bbbce3fa17dc154c5b06681c38
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic drink bottle, swing wide around the rectangular dark green shampoo bottle, and set the plastic drink bottle upright.",
+    "Grab the red-capped bottle, keep it from the green shampoo bottle, and set the red-capped bottle upright.",
+    "Lift the Coca-Cola bottle, route its path away from the green shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the shampoo bottle with smooth surface, and place the plastic drink bottle upright.",
+    "Take the smooth bottle with red lid, route it away from the shampoo bottle with smooth surface, and place the smooth bottle with red lid upright.",
+    "Pick up the bottle with ridges on bottom, route it around the medium size shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the medium size shampoo bottle, place the bottle with white neck and red top upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the shampoo bottle with black pump, and put the narrow-necked bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the rectangular dark green shampoo bottle, then place the bottle with white neck and red top upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the shampoo bottle with smooth surface, and place the medium dark brown bottle upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the dark green bottle with pump, then set the smooth bottle with red lid upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the medium size shampoo bottle, and put the Coca-Cola bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo bottle with black pump, and place the bottle with ridges on bottom upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the dark green bottle with pump, and set the hand-sized soda bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the medium size shampoo bottle, and stand the medium dark brown bottle up.",
+    "Guide the left arm to take the brown bottle with red label, bypass the hand-sized shampoo bottle, and place the brown bottle with red label upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle with black pump, then set the dark drink bottle with logo upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the shampoo bottle with black pump, and place the medium dark brown bottle upright.",
+    "Take the bottle with white neck and red top, move it without nearing the shampoo bottle with matte black pump, and stand the bottle with white neck and red top upright.",
+    "Grab the dark drink bottle with logo, steer it around the hand-sized shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Take the plastic drink bottle up, skirt the rectangular dark green shampoo bottle, and put the plastic drink bottle down upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the shampoo container with dispensing pump, place the brown bottle with red label upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the shampoo bottle, green with black cap while moving, and set the brown bottle with red label upright.",
+    "Grab the plastic drink bottle, move it without crossing the shampoo container with dispensing pump, then place the plastic drink bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the shampoo bottle with smooth surface, and stand the hand-sized soda bottle upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the green shampoo bottle, place the hand-sized soda bottle upright.",
+    "Move the red-capped bottle away from the shampoo bottle with matte black pump as you lift, then place the red-capped bottle upright.",
+    "Lift the red-capped bottle, guide it around the shampoo bottle with matte black pump, then stand the red-capped bottle upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the green shampoo bottle, set the bottle with ridges on bottom upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the green shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, avoid the shampoo bottle, green with black cap while moving, then place the hand-sized soda bottle upright.",
+    "Grab the red-capped bottle, keep it away from the rectangular green plastic shampoo dispenser, and put the red-capped bottle down upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the shampoo bottle with matte black pump while moving, and set the hand-sized soda bottle upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the shampoo bottle with black pump, place the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, route it around the medium size shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the rectangular dark green shampoo bottle, then stand the smooth bottle with red lid up.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the plastic shampoo container, then place the dark drink bottle with logo upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the green shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the medium size shampoo bottle en route, and stand the smooth bottle with red lid up.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle with smooth surface, then stand the bottle with ridges on bottom upright.",
+    "Pick up the long thin bottle, swing wide around the hand-sized shampoo bottle, and set the long thin bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the shampoo bottle with matte black pump, and set the smooth bottle with red lid upright.",
+    "Lift the medium dark brown bottle, route its path away from the medium size shampoo bottle, then set the medium dark brown bottle upright.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the rectangular green plastic shampoo dispenser, and place the hand-sized soda bottle upright.",
+    "Take the bottle with white neck and red top, route it away from the dark green bottle with pump, and place the bottle with white neck and red top upright.",
+    "Pick up the narrow-necked bottle, route it around the medium size shampoo bottle, then stand the narrow-necked bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the shampoo bottle with smooth surface, place the bottle with white neck and red top upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the green shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the hand-sized shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the dark green bottle with pump, and place the bottle with ridges on bottom upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the green shampoo bottle, then set the bottle with white neck and red top upright.",
+    "With the left arm, pick the long thin bottle up, avoid the rectangular dark green shampoo bottle, and put the long thin bottle upright.",
+    "Take the plastic drink bottle, keep clear of the shampoo bottle with smooth surface, and place the plastic drink bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the shampoo bottle with black pump, and set the medium dark brown bottle upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the dark green bottle with pump, and stand the brown bottle with red label up.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the rectangular dark green shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the green shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the medium size shampoo bottle, and place the long thin bottle upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the dark green bottle with pump, and stand the bottle with ridges on bottom upright.",
+    "Grab the red-capped bottle, steer it around the shampoo container with dispensing pump, and place the red-capped bottle upright.",
+    "Take the brown bottle with red label up, skirt the shampoo bottle, green with black cap, and put the brown bottle with red label down upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the medium size shampoo bottle, place the medium dark brown bottle upright.",
+    "Have the left arm grasp the red-capped bottle, avoid the green shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the shampoo bottle with black pump, then place the smooth bottle with red lid upright.",
+    "Move the medium dark brown bottle from its spot, skirt the shampoo bottle with smooth surface, and stand the medium dark brown bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the shampoo bottle, green with black cap, place the bottle with white neck and red top upright.",
+    "Move the brown bottle with red label away from the medium size shampoo bottle as you lift, then place the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, guide it around the medium size shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the green shampoo bottle, set the bottle with ridges on bottom upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the plastic shampoo container, and stand the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, avoid the shampoo bottle with smooth surface while moving, then place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the shampoo bottle with black pump, and put the bottle with white neck and red top down upright.",
+    "With the left arm, take the red-capped bottle, avoid the shampoo bottle with matte black pump while moving, and set the red-capped bottle upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the plastic shampoo container, place the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, route it around the shampoo bottle, green with black cap, then set the medium dark brown bottle upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the shampoo bottle with smooth surface, then stand the bottle with ridges on bottom up.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the rectangular dark green shampoo bottle, then place the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the shampoo container with dispensing pump, and set the smooth bottle with red lid upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the shampoo bottle with black pump en route, and stand the bottle with white neck and red top up.",
+    "Grab the long thin bottle, carry it around the shampoo bottle with matte black pump, then stand the long thin bottle upright.",
+    "Pick up the long thin bottle, swing wide around the rectangular dark green shampoo bottle, and set the long thin bottle upright.",
+    "Grab the long thin bottle, keep it from the shampoo bottle with matte black pump, and set the long thin bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the shampoo bottle with matte black pump, then set the dark drink bottle with logo upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the rectangular dark green shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Take the dark drink bottle with logo, route it away from the rectangular green plastic shampoo dispenser, and place the dark drink bottle with logo upright.",
+    "Pick up the red-capped bottle, route it around the shampoo bottle with matte black pump, then stand the red-capped bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the hand-sized shampoo bottle, place the hand-sized soda bottle upright.",
+    "With the left arm, take the medium dark brown bottle, pass outside the rectangular dark green shampoo bottle, and put the medium dark brown bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the green shampoo bottle, then place the bottle with white neck and red top upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the medium size shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the rectangular dark green shampoo bottle, then set the red-capped bottle upright.",
+    "With the left arm, pick the bottle with ridges on bottom up, avoid the shampoo bottle with smooth surface, and put the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle, keep clear of the medium size shampoo bottle, and place the plastic drink bottle upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the shampoo container with dispensing pump, and set the Coca-Cola bottle upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the shampoo bottle with black pump, and stand the hand-sized soda bottle up.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the rectangular green plastic shampoo dispenser, and place the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the plastic shampoo container, then set the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the shampoo bottle with black pump, and place the hand-sized soda bottle upright.",
+    "Take the dark drink bottle with logo, move it without nearing the dark green bottle with pump, and stand the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, steer it around the shampoo bottle with black pump, and place the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the dark green pump shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the green bottle with pump top, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode70.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..489bef50f448e020f689b9461b14aad47e6e1e98
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the narrow-necked bottle, route its path away from the glossy white shampoo bottle, then set the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the medium shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, steer it around the shampoo bottle with pink cap, and place the brown bottle with red label upright.",
+    "Move the medium dark brown bottle from its spot, skirt the shampoo bottle with pink cap, and stand the medium dark brown bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the glossy white shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the glossy white shampoo bottle, then set the red-capped bottle upright.",
+    "Lift the bottle with ridges on bottom, guide it around the glossy white shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Lift the medium dark brown bottle, route it around the oval-shaped shampoo bottle, then set the medium dark brown bottle upright.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the shampoo bottle with pink cap, and stand the narrow-necked bottle up.",
+    "Grab the plastic drink bottle, move it without crossing the pink-topped shampoo bottle, then place the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the pink-topped shampoo bottle while moving, then place the smooth bottle with red lid upright.",
+    "Grab the plastic drink bottle, carry it around the medium shampoo bottle, then stand the plastic drink bottle upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the medium oval plastic shampoo container, then stand the hand-sized soda bottle up.",
+    "Use the left arm to lift the long thin bottle, avoid the white body pink flip cap bottle en route, and stand the long thin bottle up.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the pink-topped shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the left arm, lift the long thin bottle, keep it away from the shampoo bottle with pink cap, place the long thin bottle upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the smooth white shampoo dispenser, place the smooth bottle with red lid upright.",
+    "Grab the red-capped bottle, keep it from the smooth white shampoo dispenser, and set the red-capped bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the pink-topped shampoo bottle while moving, and set the smooth bottle with red lid upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the shampoo dispenser with flat base, set the plastic drink bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the white shampoo bottle, and set the narrow-necked bottle upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the oval-shaped shampoo bottle, and place the plastic drink bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the medium oval plastic shampoo container, and set the plastic drink bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the medium shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the white shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the pink-topped shampoo bottle, and place the narrow-necked bottle upright.",
+    "Pick the red-capped bottle up, keep its path clear of the medium shampoo bottle, place the red-capped bottle upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the hand-sized shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the pink-topped shampoo bottle, and put the brown bottle with red label upright.",
+    "Take the long thin bottle, move it without nearing the shampoo bottle with pink cap, and stand the long thin bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the white shampoo bottle, and place the long thin bottle upright.",
+    "Take the medium dark brown bottle, route it away from the smooth white shampoo dispenser, and place the medium dark brown bottle upright.",
+    "Pick up the long thin bottle, route it around the medium shampoo bottle, then stand the long thin bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the plastic shampoo container, and set the narrow-necked bottle upright.",
+    "Take the red-capped bottle up, skirt the white shampoo bottle, and put the red-capped bottle down upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the medium oval plastic shampoo container, place the medium dark brown bottle upright.",
+    "Move the smooth bottle with red lid away from the white body pink flip cap bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the plastic shampoo container while moving, and set the narrow-necked bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the shampoo bottle with pink cap, and place the narrow-necked bottle upright.",
+    "Grab the hand-sized soda bottle, keep it away from the white shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Lift the narrow-necked bottle, route its path away from the glossy white shampoo bottle, then set the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the white shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Grab the Coca-Cola bottle, steer it around the white body pink flip cap bottle, and place the Coca-Cola bottle upright.",
+    "Move the long thin bottle from its spot, skirt the smooth white shampoo dispenser, and stand the long thin bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the medium shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the pink-topped shampoo bottle, then set the long thin bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the medium shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, route it around the glossy white shampoo bottle, then set the red-capped bottle upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the oval-shaped shampoo bottle, and stand the hand-sized soda bottle up.",
+    "Grab the brown bottle with red label, move it without crossing the medium shampoo bottle, then place the brown bottle with red label upright.",
+    "Grab the long thin bottle, avoid the white body pink flip cap bottle while moving, then place the long thin bottle upright.",
+    "Grab the smooth bottle with red lid, carry it around the oval-shaped shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the smooth white shampoo dispenser, then stand the hand-sized soda bottle up.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the plastic shampoo container en route, and stand the bottle with white neck and red top up.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the white body pink flip cap bottle, then place the narrow-necked bottle upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the shampoo bottle with pink cap, place the brown bottle with red label upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the oval-shaped shampoo bottle, place the brown bottle with red label upright.",
+    "Grab the medium dark brown bottle, keep it from the glossy white shampoo bottle, and set the medium dark brown bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, avoid the medium shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the medium shampoo bottle, set the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the smooth white shampoo dispenser, and set the bottle with ridges on bottom upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the shampoo bottle with pink cap, and place the bottle with ridges on bottom upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the plastic shampoo container, and set the smooth bottle with red lid upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the plastic shampoo container, and put the dark drink bottle with logo upright.",
+    "Lift the brown bottle with red label, keep its path clear of the pink-topped shampoo bottle, then set the brown bottle with red label upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the white shampoo bottle, and place the red-capped bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the shampoo bottle with pink cap, place the medium dark brown bottle upright.",
+    "Use the left arm, raise the brown bottle with red label, keep distance from the shampoo dispenser with flat base, then place the brown bottle with red label upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the pink-topped shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Take the bottle with white neck and red top, move it without nearing the shampoo bottle with pink cap, and stand the bottle with white neck and red top upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the shampoo bottle with pink cap, and place the red-capped bottle upright.",
+    "Take the narrow-necked bottle, route it away from the white body pink flip cap bottle, and place the narrow-necked bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the pink-topped shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Pick up the medium dark brown bottle, swing wide around the shampoo bottle with pink cap, and set the medium dark brown bottle upright.",
+    "Take the red-capped bottle up, skirt the glossy white shampoo bottle, and put the red-capped bottle down upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the shampoo bottle with pink cap, place the hand-sized soda bottle upright.",
+    "Move the medium dark brown bottle away from the oval-shaped shampoo bottle as you lift, then place the medium dark brown bottle upright.",
+    "Have the left arm grasp the plastic drink bottle, avoid the glossy white shampoo bottle while moving, and set the plastic drink bottle upright.",
+    "Guide the left arm to take the brown bottle with red label, bypass the medium shampoo bottle, and place the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, keep it away from the oval-shaped shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Lift the smooth bottle with red lid, route its path away from the oval-shaped shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Take the bottle with white neck and red top, keep clear of the shampoo bottle with pink cap, and place the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, steer it around the hand-sized shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the shampoo bottle with pink cap, and stand the dark drink bottle with logo upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the glossy white shampoo bottle, and stand the brown bottle with red label upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the pink-topped shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Lift the medium dark brown bottle, guide it around the pink-topped shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Lift the medium dark brown bottle, route it around the shampoo bottle with pink cap, then set the medium dark brown bottle upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the plastic shampoo container, and stand the long thin bottle up.",
+    "Grab the plastic drink bottle, move it without crossing the plastic shampoo container, then place the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, avoid the medium shampoo bottle while moving, then place the Coca-Cola bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the white body pink flip cap bottle, then stand the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the white shampoo bottle, then stand the narrow-necked bottle up.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the oval-shaped shampoo bottle en route, and stand the bottle with white neck and red top up.",
+    "Using the left arm, lift the bottle with ridges on bottom, pass clear of the medium shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the oval-shaped shampoo bottle, place the bottle with white neck and red top upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the pink-topped shampoo bottle, place the dark drink bottle with logo upright.",
+    "Grab the smooth bottle with red lid, keep it from the glossy white shampoo bottle, and set the smooth bottle with red lid upright.",
+    "With the left arm, take the red-capped bottle, avoid the hand-sized shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the plastic shampoo container, set the Coca-Cola bottle upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode71.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85ae694fca07e39e421b822d2c4c5a47c1959b7
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm, raise the bottle with white neck and red top, keep distance from the yellow container with green pump, then place the bottle with white neck and red top upright.",
+    "Direct the right arm to pick the bottle with ridges on bottom up, avoid the yellow container with green pump, and stand the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the hand-sized soda bottle, avoid the shampoo bottle with rounded body while moving, and set the hand-sized soda bottle upright.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the shampoo bottle with rounded body, then set the plastic drink bottle upright.",
+    "Lift the Coca-Cola bottle, guide it around the medium shampoo bottle with pump, then stand the Coca-Cola bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the yellow container with green pump, then stand the bottle with white neck and red top upright.",
+    "Guide the right arm to take the plastic drink bottle, bypass the yellow shampoo with cartoon design, and place the plastic drink bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the yellow shampoo bottle, and set the plastic drink bottle upright.",
+    "Using the right arm, pick the hand-sized soda bottle up, keep clear of the plastic shampoo bottle with label, place the hand-sized soda bottle upright.",
+    "Take the medium dark brown bottle, move it without nearing the yellow bottle with green top, and stand the medium dark brown bottle upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the smooth bottle with green top, place the hand-sized soda bottle upright.",
+    "With the right arm, lift the medium dark brown bottle, keep it away from the yellow shampoo bottle, place the medium dark brown bottle upright.",
+    "Use the right arm to lift the red-capped bottle, avoid the shampoo bottle with handle slot en route, and stand the red-capped bottle up.",
+    "With the right arm, pick the brown bottle with red label up, avoid the yellow shampoo bottle, and put the brown bottle with red label upright.",
+    "Using the right arm, grasp the bottle with white neck and red top, move it past the bottle with cartoon label, then stand the bottle with white neck and red top up.",
+    "Use the right arm to pick the bottle with white neck and red top up, avoid the yellow shampoo with cartoon design, and place the bottle with white neck and red top upright.",
+    "Using the right arm, lift the plastic drink bottle, keep clear of the shampoo bottle with handle slot, and place the plastic drink bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the bottle with cartoon label, then set the Coca-Cola bottle upright.",
+    "Move the bottle with white neck and red top away from the bottle with cartoon label as you lift, then place the bottle with white neck and red top upright.",
+    "Grab the smooth bottle with red lid, avoid the shampoo with green dispensing pump while moving, then place the smooth bottle with red lid upright.",
+    "Lift the narrow-necked bottle, route its path away from the medium shampoo bottle with pump, then set the narrow-necked bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the shampoo with green dispensing pump, then stand the hand-sized soda bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the yellow shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "Take the bottle with white neck and red top, route it away from the shampoo bottle with handle slot, and place the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, keep it from the smooth bottle with green top, and set the Coca-Cola bottle upright.",
+    "With the right arm, secure the hand-sized soda bottle, pass around the plastic shampoo bottle with label, and set the hand-sized soda bottle upright.",
+    "With the right arm, take the Coca-Cola bottle, pass outside the yellow container with green pump, and put the Coca-Cola bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the yellow container with green pump, and stand the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the yellow container with green pump, and put the bottle with white neck and red top down upright.",
+    "Use the right arm to grab the plastic drink bottle, carry it away from the shampoo bottle with handle slot, set the plastic drink bottle upright.",
+    "Pick up the medium dark brown bottle with the right arm, keep it away from the yellow shampoo with cartoon design, place the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the yellow container with green pump, then place the plastic drink bottle upright.",
+    "Lift the long thin bottle, route it around the shampoo bottle with handle slot, then set the long thin bottle upright.",
+    "Lift the brown bottle with red label, keep its path away from the shampoo bottle with rounded body, and set the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top, keep clear of the shampoo bottle with rounded body, and place the bottle with white neck and red top upright.",
+    "Grab the dark drink bottle with logo, steer it around the medium shampoo bottle with pump, and place the dark drink bottle with logo upright.",
+    "With the right arm, take the bottle with white neck and red top, avoid the smooth bottle with green top while moving, and set the bottle with white neck and red top upright.",
+    "With the right arm, pick up the red-capped bottle, steer away from the shampoo bottle with rounded body, and stand the red-capped bottle up.",
+    "Using the right arm, lift the bottle with ridges on bottom, pass clear of the shampoo bottle with handle slot, then place the bottle with ridges on bottom upright.",
+    "With the right arm, take the smooth bottle with red lid up, steer past the plastic shampoo bottle with label, and place the smooth bottle with red lid upright.",
+    "Use the right arm, raise the hand-sized soda bottle, keep distance from the shampoo bottle with handle slot, then place the hand-sized soda bottle upright.",
+    "Direct the right arm to pick the bottle with white neck and red top up, avoid the shampoo bottle with rounded body, and stand the bottle with white neck and red top upright.",
+    "Have the right arm grasp the narrow-necked bottle, avoid the yellow container with green pump while moving, and set the narrow-necked bottle upright.",
+    "Grip the narrow-necked bottle with the right arm, keep distance from the hand-sized yellow shampoo bottle, then set the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, guide it around the yellow bottle with green top, then stand the bottle with ridges on bottom upright.",
+    "Grab the Coca-Cola bottle, carry it around the shampoo bottle with handle slot, then stand the Coca-Cola bottle upright.",
+    "Guide the right arm to take the red-capped bottle, bypass the smooth bottle with green top, and place the red-capped bottle upright.",
+    "Pick up the long thin bottle, swing wide around the yellow container with green pump, and set the long thin bottle upright.",
+    "Using the right arm, pick the brown bottle with red label up, keep clear of the shampoo bottle with handle slot, place the brown bottle with red label upright.",
+    "Take the red-capped bottle, move it without nearing the medium shampoo bottle with pump, and stand the red-capped bottle upright.",
+    "Pick the bottle with ridges on bottom up, keep its path clear of the hand-sized yellow shampoo bottle, place the bottle with ridges on bottom upright.",
+    "With the right arm, lift the Coca-Cola bottle, keep it away from the medium shampoo bottle with pump, place the Coca-Cola bottle upright.",
+    "Use the right arm to lift the medium dark brown bottle, avoid the medium shampoo bottle with pump en route, and stand the medium dark brown bottle up.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the yellow shampoo with cartoon design, and put the medium dark brown bottle upright.",
+    "Using the right arm, grasp the bottle with white neck and red top, move it past the shampoo bottle with rounded body, then stand the bottle with white neck and red top up.",
+    "Use the right arm to pick the Coca-Cola bottle up, avoid the medium shampoo bottle with pump, and place the Coca-Cola bottle upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the plastic shampoo bottle with label, and place the red-capped bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the shampoo bottle with handle slot, then set the Coca-Cola bottle upright.",
+    "Move the long thin bottle away from the yellow shampoo with cartoon design as you lift, then place the long thin bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the shampoo with green dispensing pump while moving, then place the dark drink bottle with logo upright.",
+    "Lift the narrow-necked bottle, route its path away from the smooth bottle with green top, then set the narrow-necked bottle upright.",
+    "Pick up the red-capped bottle, route it around the hand-sized yellow shampoo bottle, then stand the red-capped bottle upright.",
+    "Take the red-capped bottle up, skirt the plastic shampoo bottle with label, and put the red-capped bottle down upright.",
+    "Take the hand-sized soda bottle, route it away from the medium shampoo bottle with pump, and place the hand-sized soda bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the shampoo with green dispensing pump, and set the smooth bottle with red lid upright.",
+    "With the right arm, secure the smooth bottle with red lid, pass around the yellow shampoo bottle, and set the smooth bottle with red lid upright.",
+    "With the right arm, take the red-capped bottle, pass outside the smooth bottle with green top, and put the red-capped bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the plastic shampoo bottle with label, and stand the Coca-Cola bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the yellow shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Use the right arm to grab the red-capped bottle, carry it away from the yellow container with green pump, set the red-capped bottle upright.",
+    "Pick up the plastic drink bottle with the right arm, keep it away from the yellow container with green pump, place the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, move it without crossing the shampoo bottle with rounded body, then place the narrow-necked bottle upright.",
+    "Lift the brown bottle with red label, route it around the hand-sized yellow shampoo bottle, then set the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the smooth bottle with green top, and set the bottle with white neck and red top upright.",
+    "Take the hand-sized soda bottle, keep clear of the smooth bottle with green top, and place the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, steer it around the shampoo bottle with rounded body, and place the long thin bottle upright.",
+    "With the right arm, take the bottle with white neck and red top, avoid the medium shampoo bottle with pump while moving, and set the bottle with white neck and red top upright.",
+    "With the right arm, pick up the Coca-Cola bottle, steer away from the smooth bottle with green top, and stand the Coca-Cola bottle up.",
+    "Using the right arm, lift the smooth bottle with red lid, pass clear of the medium shampoo bottle with pump, then place the smooth bottle with red lid upright.",
+    "With the right arm, take the medium dark brown bottle up, steer past the bottle with cartoon label, and place the medium dark brown bottle upright.",
+    "Use the right arm, raise the Coca-Cola bottle, keep distance from the yellow bottle with green top, then place the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the plastic drink bottle up, avoid the yellow shampoo with cartoon design, and stand the plastic drink bottle upright.",
+    "Have the right arm grasp the narrow-necked bottle, avoid the yellow shampoo bottle while moving, and set the narrow-necked bottle upright.",
+    "Grip the bottle with white neck and red top with the right arm, keep distance from the shampoo bottle with rounded body, then set the bottle with white neck and red top upright.",
+    "Lift the smooth bottle with red lid, guide it around the shampoo bottle with handle slot, then stand the smooth bottle with red lid upright.",
+    "Grab the long thin bottle, carry it around the yellow bottle with green top, then stand the long thin bottle upright.",
+    "Guide the right arm to take the hand-sized soda bottle, bypass the yellow shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the yellow shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Using the right arm, pick the smooth bottle with red lid up, keep clear of the medium shampoo bottle with pump, place the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle, move it without nearing the bottle with cartoon label, and stand the medium dark brown bottle upright.",
+    "Pick the bottle with ridges on bottom up, keep its path clear of the shampoo bottle with rounded body, place the bottle with ridges on bottom upright.",
+    "With the right arm, lift the narrow-necked bottle, keep it away from the shampoo bottle with rounded body, place the narrow-necked bottle upright.",
+    "Use the right arm to lift the bottle with white neck and red top, avoid the shampoo bottle with rounded body en route, and stand the bottle with white neck and red top up.",
+    "With the right arm, pick the smooth bottle with red lid up, avoid the yellow container with green pump, and put the smooth bottle with red lid upright.",
+    "Using the right arm, grasp the hand-sized soda bottle, move it past the shampoo with green dispensing pump, then stand the hand-sized soda bottle up.",
+    "Use the right arm to pick the brown bottle with red label up, avoid the shampoo bottle with handle slot, and place the brown bottle with red label upright.",
+    "Using the right arm, lift the bottle with ridges on bottom, keep clear of the shampoo bottle with rounded body, and place the bottle with ridges on bottom upright.",
+    "Lift the plastic drink bottle, keep its path clear of the shampoo bottle with rounded body, then set the plastic drink bottle upright.",
+    "Move the dark drink bottle with logo away from the yellow shampoo with cartoon design as you lift, then place the dark drink bottle with logo upright.",
+    "Grab the hand-sized soda bottle, avoid the plastic shampoo bottle with label while moving, then place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the smooth plastic shampoo container, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode72.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c94afa1ddafded11a221865b1947b09548f052
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, take the bottle with ridges near base, avoid the white shampoo bottle while moving, and set the bottle with ridges near base upright.",
+    "Grab the bottle with rounded neck, steer it around the medium oval plastic shampoo container, and place the bottle with rounded neck upright.",
+    "Pick up the plastic bottle with the right arm, keep it away from the shampoo dispenser with flat base, place the plastic bottle upright.",
+    "Use the right arm, raise the medium-sized green bottle, keep distance from the plastic shampoo container, then place the medium-sized green bottle upright.",
+    "With the right arm, secure the smooth green bottle, pass around the hand-sized shampoo bottle, and set the smooth green bottle upright.",
+    "Take the medium-sized green bottle, keep clear of the plastic shampoo container, and place the medium-sized green bottle upright.",
+    "Grab the medium green bottle with capped neck, keep it from the medium oval plastic shampoo container, and set the medium green bottle with capped neck upright.",
+    "Lift the bottle with rounded neck, route it around the hand-sized shampoo bottle, then set the bottle with rounded neck upright.",
+    "With the right arm, take the smooth green bottle, pass outside the shampoo bottle with pink cap, and put the smooth green bottle upright.",
+    "Move the handheld green bottle away from the oval-shaped shampoo bottle as you lift, then place the handheld green bottle upright.",
+    "Using the right arm, lift the medium green bottle, pass clear of the white shampoo bottle, then place the medium green bottle upright.",
+    "Using the right arm, pick the smooth green bottle up, keep clear of the oval-shaped shampoo bottle, place the smooth green bottle upright.",
+    "Use the right arm to grab the handheld green bottle, carry it away from the shampoo dispenser with flat base, set the handheld green bottle upright.",
+    "With the right arm, take the smooth green bottle up, steer past the shampoo bottle with pink cap, and place the smooth green bottle upright.",
+    "Using the right arm, lift the smooth green plastic bottle, keep clear of the white body pink flip cap bottle, and place the smooth green plastic bottle upright.",
+    "Pick the handheld green bottle up, keep its path clear of the white shampoo bottle, place the handheld green bottle upright.",
+    "Use the right arm to lift the bottle with ridges near base, avoid the shampoo bottle with pink cap en route, and stand the bottle with ridges near base up.",
+    "Take the bottle with ridges near base, move it without nearing the medium shampoo bottle, and stand the bottle with ridges near base upright.",
+    "Lift the medium-sized green bottle, guide it around the medium oval plastic shampoo container, then stand the medium-sized green bottle upright.",
+    "Grab the medium green bottle, avoid the medium oval plastic shampoo container while moving, then place the medium green bottle upright.",
+    "With the right arm, pick up the bottle with white printed label, steer away from the white shampoo bottle, and stand the bottle with white printed label up.",
+    "Lift the bottle with white printed label, route its path away from the plastic shampoo container, then set the bottle with white printed label upright.",
+    "Have the right arm grasp the bottle with white printed label, avoid the medium oval plastic shampoo container while moving, and set the bottle with white printed label upright.",
+    "Guide the right arm to take the handheld green bottle, bypass the medium shampoo bottle, and place the handheld green bottle upright.",
+    "Using the right arm, grasp the smooth green plastic bottle, move it past the pink-topped shampoo bottle, then stand the smooth green plastic bottle up.",
+    "Grab the plastic bottle, carry it around the shampoo bottle with pink cap, then stand the plastic bottle upright.",
+    "Grab the smooth green bottle, keep it away from the medium oval plastic shampoo container, and put the smooth green bottle down upright.",
+    "Lift the bottle with rounded neck, keep its path away from the shampoo dispenser with flat base, and set the bottle with rounded neck upright.",
+    "Use the right arm to pick the smooth green bottle up, avoid the medium shampoo bottle, and place the smooth green bottle upright.",
+    "Grip the bottle with ridges near base with the right arm, keep distance from the glossy white shampoo bottle, then set the bottle with ridges near base upright.",
+    "Grab the handheld green bottle, move it without crossing the white shampoo bottle, then place the handheld green bottle upright.",
+    "With the right arm, lift the handheld green bottle, keep it away from the oval-shaped shampoo bottle, place the handheld green bottle upright.",
+    "Move the medium green bottle from its spot, skirt the glossy white shampoo bottle, and stand the medium green bottle upright.",
+    "Take the bottle with rounded neck up, skirt the smooth white shampoo dispenser, and put the bottle with rounded neck down upright.",
+    "Direct the right arm to pick the medium green bottle up, avoid the white body pink flip cap bottle, and stand the medium green bottle upright.",
+    "Lift the medium-sized green bottle, keep its path clear of the plastic shampoo container, then set the medium-sized green bottle upright.",
+    "Take the bottle with narrow top, route it away from the shampoo bottle with pink cap, and place the bottle with narrow top upright.",
+    "Pick up the smooth green plastic bottle, swing wide around the shampoo bottle with pink cap, and set the smooth green plastic bottle upright.",
+    "With the right arm, pick the bottle with narrow top up, avoid the shampoo dispenser with flat base, and put the bottle with narrow top upright.",
+    "Pick up the bottle with narrow top, route it around the hand-sized shampoo bottle, then stand the bottle with narrow top upright.",
+    "With the right arm, take the bottle with white printed label, avoid the white shampoo bottle while moving, and set the bottle with white printed label upright.",
+    "Grab the green bottle with indented base, steer it around the shampoo dispenser with flat base, and place the green bottle with indented base upright.",
+    "Pick up the bottle with white printed label with the right arm, keep it away from the white body pink flip cap bottle, place the bottle with white printed label upright.",
+    "Use the right arm, raise the bottle with white printed label, keep distance from the oval-shaped shampoo bottle, then place the bottle with white printed label upright.",
+    "With the right arm, secure the green bottle with indented base, pass around the oval-shaped shampoo bottle, and set the green bottle with indented base upright.",
+    "Take the medium green bottle, keep clear of the glossy white shampoo bottle, and place the medium green bottle upright.",
+    "Grab the medium green bottle, keep it from the hand-sized shampoo bottle, and set the medium green bottle upright.",
+    "Lift the bottle with white printed label, route it around the oval-shaped shampoo bottle, then set the bottle with white printed label upright.",
+    "With the right arm, take the medium green bottle with capped neck, pass outside the white body pink flip cap bottle, and put the medium green bottle with capped neck upright.",
+    "Move the handheld green bottle away from the glossy white shampoo bottle as you lift, then place the handheld green bottle upright.",
+    "Using the right arm, lift the smooth green plastic bottle, pass clear of the shampoo bottle with pink cap, then place the smooth green plastic bottle upright.",
+    "Using the right arm, pick the plastic bottle up, keep clear of the medium oval plastic shampoo container, place the plastic bottle upright.",
+    "Use the right arm to grab the smooth green bottle, carry it away from the smooth white shampoo dispenser, set the smooth green bottle upright.",
+    "With the right arm, take the handheld green bottle up, steer past the pink-topped shampoo bottle, and place the handheld green bottle upright.",
+    "Using the right arm, lift the bottle with narrow top, keep clear of the medium oval plastic shampoo container, and place the bottle with narrow top upright.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the shampoo dispenser with flat base, place the smooth green plastic bottle upright.",
+    "Use the right arm to lift the bottle with ridges near base, avoid the hand-sized shampoo bottle en route, and stand the bottle with ridges near base up.",
+    "Take the bottle with rounded neck, move it without nearing the hand-sized shampoo bottle, and stand the bottle with rounded neck upright.",
+    "Lift the smooth green bottle, guide it around the medium shampoo bottle, then stand the smooth green bottle upright.",
+    "Grab the medium green bottle with capped neck, avoid the oval-shaped shampoo bottle while moving, then place the medium green bottle with capped neck upright.",
+    "With the right arm, pick up the smooth green plastic bottle, steer away from the pink-topped shampoo bottle, and stand the smooth green plastic bottle up.",
+    "Lift the smooth green bottle, route its path away from the white body pink flip cap bottle, then set the smooth green bottle upright.",
+    "Have the right arm grasp the handheld green bottle, avoid the smooth white shampoo dispenser while moving, and set the handheld green bottle upright.",
+    "Guide the right arm to take the bottle with narrow top, bypass the medium shampoo bottle, and place the bottle with narrow top upright.",
+    "Using the right arm, grasp the medium-sized green bottle, move it past the shampoo dispenser with flat base, then stand the medium-sized green bottle up.",
+    "Grab the bottle with white printed label, carry it around the plastic shampoo container, then stand the bottle with white printed label upright.",
+    "Grab the smooth green plastic bottle, keep it away from the glossy white shampoo bottle, and put the smooth green plastic bottle down upright.",
+    "Lift the bottle with ridges near base, keep its path away from the glossy white shampoo bottle, and set the bottle with ridges near base upright.",
+    "Use the right arm to pick the bottle with ridges near base up, avoid the medium shampoo bottle, and place the bottle with ridges near base upright.",
+    "Grip the medium green bottle with the right arm, keep distance from the medium oval plastic shampoo container, then set the medium green bottle upright.",
+    "Grab the plastic bottle, move it without crossing the white shampoo bottle, then place the plastic bottle upright.",
+    "With the right arm, lift the bottle with white printed label, keep it away from the hand-sized shampoo bottle, place the bottle with white printed label upright.",
+    "Move the green bottle with indented base from its spot, skirt the medium oval plastic shampoo container, and stand the green bottle with indented base upright.",
+    "Take the bottle with white printed label up, skirt the glossy white shampoo bottle, and put the bottle with white printed label down upright.",
+    "Direct the right arm to pick the plastic bottle up, avoid the pink-topped shampoo bottle, and stand the plastic bottle upright.",
+    "Lift the bottle with white printed label, keep its path clear of the medium shampoo bottle, then set the bottle with white printed label upright.",
+    "Take the medium-sized green bottle, route it away from the pink-topped shampoo bottle, and place the medium-sized green bottle upright.",
+    "Pick up the green bottle with indented base, swing wide around the smooth white shampoo dispenser, and set the green bottle with indented base upright.",
+    "With the right arm, pick the medium green bottle with capped neck up, avoid the white body pink flip cap bottle, and put the medium green bottle with capped neck upright.",
+    "Pick up the smooth green plastic bottle, route it around the medium shampoo bottle, then stand the smooth green plastic bottle upright.",
+    "With the right arm, take the bottle with rounded neck, avoid the white shampoo bottle while moving, and set the bottle with rounded neck upright.",
+    "Grab the green bottle with indented base, steer it around the smooth white shampoo dispenser, and place the green bottle with indented base upright.",
+    "Pick up the bottle with ridges near base with the right arm, keep it away from the medium oval plastic shampoo container, place the bottle with ridges near base upright.",
+    "Use the right arm, raise the medium green bottle with capped neck, keep distance from the medium oval plastic shampoo container, then place the medium green bottle with capped neck upright.",
+    "With the right arm, secure the medium green bottle with capped neck, pass around the glossy white shampoo bottle, and set the medium green bottle with capped neck upright.",
+    "Take the bottle with narrow top, keep clear of the white shampoo bottle, and place the bottle with narrow top upright.",
+    "Grab the medium-sized green bottle, keep it from the shampoo bottle with pink cap, and set the medium-sized green bottle upright.",
+    "Lift the medium green bottle with capped neck, route it around the plastic shampoo container, then set the medium green bottle with capped neck upright.",
+    "With the right arm, take the bottle with rounded neck, pass outside the white shampoo bottle, and put the bottle with rounded neck upright.",
+    "Move the bottle with rounded neck away from the shampoo bottle with pink cap as you lift, then place the bottle with rounded neck upright.",
+    "Using the right arm, lift the bottle with narrow top, pass clear of the smooth white shampoo dispenser, then place the bottle with narrow top upright.",
+    "Using the right arm, pick the bottle with rounded neck up, keep clear of the plastic shampoo container, place the bottle with rounded neck upright.",
+    "Use the right arm to grab the green bottle with indented base, carry it away from the shampoo bottle with pink cap, set the green bottle with indented base upright.",
+    "With the right arm, take the bottle with white printed label up, steer past the plastic shampoo container, and place the bottle with white printed label upright.",
+    "Using the right arm, lift the bottle with narrow top, keep clear of the pink-topped shampoo bottle, and place the bottle with narrow top upright.",
+    "Pick the medium-sized green bottle up, keep its path clear of the white shampoo bottle, place the medium-sized green bottle upright.",
+    "Use the right arm to lift the handheld green bottle, avoid the white shampoo bottle en route, and stand the handheld green bottle up.",
+    "Take the medium-sized green bottle, move it without nearing the plastic shampoo container, and stand the medium-sized green bottle upright.",
+    "Lift the bottle with narrow top, guide it around the medium shampoo bottle, then stand the bottle with narrow top upright.",
+    "Grab the handheld green bottle, avoid the shampoo dispenser with flat base while moving, then place the handheld green bottle upright."
+  ],
+  "unseen": [
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the Dove shampoo bottle, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the Dove shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the bottle for holding shampoo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with Dove logo, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the Dove shampoo bottle, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with Dove logo, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the bottle for holding shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle, guide it around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle with white label, carry it clear of the bottle for holding shampoo, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the bottle for holding shampoo, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with Dove logo, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green bottle, carry it clear of the bottle for holding shampoo, then set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the bottle for holding shampoo, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with Dove logo, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the Dove shampoo bottle, then place the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the bottle for holding shampoo, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with Dove logo, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the Dove shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the bottle for holding shampoo, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the bottle for holding shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with Dove logo, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with Dove logo, then set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with Dove logo, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the Dove shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the Dove shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Grab the green bottle, carry it clear of the bottle for holding shampoo, then set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the Dove shampoo bottle, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the Dove shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with Dove logo, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the Dove shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the bottle for holding shampoo, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode73.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd78203521e468f2c6b76dd8c6c8aab3ed555f16
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the bottle with rounded neck, steer away from the blue top shampoo bottle, and stand the bottle with rounded neck up.",
+    "Move the bottle with rounded neck from its spot, skirt the blue top shampoo bottle, and stand the bottle with rounded neck upright.",
+    "Pick up the bottle with narrow top, route it around the handheld shampoo container, then stand the bottle with narrow top upright.",
+    "Take the medium-sized green bottle, keep clear of the shampoo bottle with curved sides, and place the medium-sized green bottle upright.",
+    "With the left arm, secure the handheld green bottle, pass around the medium-sized white plastic shampoo, and set the handheld green bottle upright.",
+    "Lift the medium green bottle, keep its path away from the bottle with hexagonal blue cap, and set the medium green bottle upright.",
+    "Lift the smooth green plastic bottle, route it around the white shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Take the bottle with rounded neck up, skirt the curved shampoo bottle, and put the bottle with rounded neck down upright.",
+    "Grab the green bottle with indented base, avoid the white and blue shampoo container while moving, then place the green bottle with indented base upright.",
+    "With the left arm, take the medium-sized green bottle, avoid the shampoo bottle with blue cap while moving, and set the medium-sized green bottle upright.",
+    "Grab the smooth green bottle, move it without crossing the white shampoo bottle, then place the smooth green bottle upright.",
+    "With the left arm, lift the smooth green bottle, keep it away from the shampoo bottle with blue cap, place the smooth green bottle upright.",
+    "Lift the smooth green bottle, keep its path clear of the white and blue shampoo container, then set the smooth green bottle upright.",
+    "Have the left arm grasp the plastic bottle, avoid the plastic shampoo bottle while moving, and set the plastic bottle upright.",
+    "Take the bottle with rounded neck, route it away from the medium-sized white plastic shampoo, and place the bottle with rounded neck upright.",
+    "Grab the medium-sized green bottle, keep it away from the shampoo bottle with curved sides, and put the medium-sized green bottle down upright.",
+    "Move the smooth green bottle away from the plastic shampoo with orange label as you lift, then place the smooth green bottle upright.",
+    "With the left arm, take the green bottle with indented base up, steer past the bottle with hexagonal blue cap, and place the green bottle with indented base upright.",
+    "Pick up the medium green bottle with capped neck, swing wide around the plastic shampoo bottle, and set the medium green bottle with capped neck upright.",
+    "Use the left arm to lift the smooth green plastic bottle, avoid the shampoo bottle with curved sides en route, and stand the smooth green plastic bottle up.",
+    "Grab the bottle with ridges near base, keep it from the plastic shampoo with orange label, and set the bottle with ridges near base upright.",
+    "Grip the smooth green bottle with the left arm, keep distance from the bottle with hexagonal blue cap, then set the smooth green bottle upright.",
+    "Use the left arm, raise the bottle with ridges near base, keep distance from the curved shampoo bottle, then place the bottle with ridges near base upright.",
+    "Lift the smooth green plastic bottle, guide it around the medium-sized white plastic shampoo, then stand the smooth green plastic bottle upright.",
+    "Using the left arm, lift the bottle with ridges near base, pass clear of the handheld shampoo container, then place the bottle with ridges near base upright.",
+    "Using the left arm, lift the plastic bottle, keep clear of the white and blue shampoo container, and place the plastic bottle upright.",
+    "Grab the medium green bottle, carry it around the plastic shampoo bottle, then stand the medium green bottle upright.",
+    "Using the left arm, grasp the medium green bottle, move it past the bottle with smooth surface, then stand the medium green bottle up.",
+    "Using the left arm, pick the bottle with ridges near base up, keep clear of the medium-sized white plastic shampoo, place the bottle with ridges near base upright.",
+    "Take the plastic bottle, move it without nearing the white and blue shampoo container, and stand the plastic bottle upright.",
+    "Use the left arm to grab the handheld green bottle, carry it away from the medium-sized white plastic shampoo, set the handheld green bottle upright.",
+    "Guide the left arm to take the bottle with narrow top, bypass the white and blue shampoo container, and place the bottle with narrow top upright.",
+    "Pick the medium-sized green bottle up, keep its path clear of the shampoo bottle with blue cap, place the medium-sized green bottle upright.",
+    "With the left arm, take the bottle with white printed label, pass outside the plastic shampoo bottle, and put the bottle with white printed label upright.",
+    "Direct the left arm to pick the bottle with ridges near base up, avoid the plastic shampoo with orange label, and stand the bottle with ridges near base upright.",
+    "With the left arm, pick the green bottle with indented base up, avoid the shampoo bottle with curved sides, and put the green bottle with indented base upright.",
+    "Pick up the smooth green bottle with the left arm, keep it away from the blue top shampoo bottle, place the smooth green bottle upright.",
+    "Grab the bottle with ridges near base, steer it around the medium-sized white plastic shampoo, and place the bottle with ridges near base upright.",
+    "Use the left arm to pick the bottle with rounded neck up, avoid the shampoo bottle with blue cap, and place the bottle with rounded neck upright.",
+    "Lift the smooth green bottle, route its path away from the handheld shampoo container, then set the smooth green bottle upright.",
+    "With the left arm, pick up the smooth green plastic bottle, steer away from the plastic shampoo bottle, and stand the smooth green plastic bottle up.",
+    "Move the medium green bottle from its spot, skirt the bottle with smooth surface, and stand the medium green bottle upright.",
+    "Pick up the green bottle with indented base, route it around the shampoo bottle with blue cap, then stand the green bottle with indented base upright.",
+    "Take the medium-sized green bottle, keep clear of the bottle with hexagonal blue cap, and place the medium-sized green bottle upright.",
+    "With the left arm, secure the plastic bottle, pass around the blue top shampoo bottle, and set the plastic bottle upright.",
+    "Lift the bottle with narrow top, keep its path away from the plastic shampoo with orange label, and set the bottle with narrow top upright.",
+    "Lift the handheld green bottle, route it around the plastic shampoo bottle, then set the handheld green bottle upright.",
+    "Take the bottle with ridges near base up, skirt the shampoo bottle with blue cap, and put the bottle with ridges near base down upright.",
+    "Grab the plastic bottle, avoid the blue top shampoo bottle while moving, then place the plastic bottle upright.",
+    "With the left arm, take the plastic bottle, avoid the shampoo bottle with blue cap while moving, and set the plastic bottle upright.",
+    "Grab the plastic bottle, move it without crossing the shampoo bottle with blue cap, then place the plastic bottle upright.",
+    "With the left arm, lift the medium green bottle, keep it away from the white shampoo bottle, place the medium green bottle upright.",
+    "Lift the bottle with narrow top, keep its path clear of the curved shampoo bottle, then set the bottle with narrow top upright.",
+    "Have the left arm grasp the medium green bottle with capped neck, avoid the shampoo bottle with blue cap while moving, and set the medium green bottle with capped neck upright.",
+    "Take the smooth green plastic bottle, route it away from the bottle with hexagonal blue cap, and place the smooth green plastic bottle upright.",
+    "Grab the medium green bottle with capped neck, keep it away from the curved shampoo bottle, and put the medium green bottle with capped neck down upright.",
+    "Move the bottle with ridges near base away from the shampoo bottle with blue cap as you lift, then place the bottle with ridges near base upright.",
+    "With the left arm, take the bottle with rounded neck up, steer past the white shampoo bottle, and place the bottle with rounded neck upright.",
+    "Pick up the handheld green bottle, swing wide around the shampoo bottle with curved sides, and set the handheld green bottle upright.",
+    "Use the left arm to lift the bottle with rounded neck, avoid the bottle with smooth surface en route, and stand the bottle with rounded neck up.",
+    "Grab the plastic bottle, keep it from the white shampoo bottle, and set the plastic bottle upright.",
+    "Grip the green bottle with indented base with the left arm, keep distance from the blue top shampoo bottle, then set the green bottle with indented base upright.",
+    "Use the left arm, raise the medium green bottle, keep distance from the plastic shampoo bottle, then place the medium green bottle upright.",
+    "Lift the plastic bottle, guide it around the blue top shampoo bottle, then stand the plastic bottle upright.",
+    "Using the left arm, lift the smooth green plastic bottle, pass clear of the handheld shampoo container, then place the smooth green plastic bottle upright.",
+    "Using the left arm, lift the plastic bottle, keep clear of the shampoo bottle with curved sides, and place the plastic bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the medium-sized white plastic shampoo, then stand the smooth green plastic bottle upright.",
+    "Using the left arm, grasp the medium green bottle with capped neck, move it past the white and blue shampoo container, then stand the medium green bottle with capped neck up.",
+    "Using the left arm, pick the medium green bottle up, keep clear of the white shampoo bottle, place the medium green bottle upright.",
+    "Take the smooth green plastic bottle, move it without nearing the medium-sized white plastic shampoo, and stand the smooth green plastic bottle upright.",
+    "Use the left arm to grab the medium-sized green bottle, carry it away from the blue top shampoo bottle, set the medium-sized green bottle upright.",
+    "Guide the left arm to take the handheld green bottle, bypass the plastic shampoo with orange label, and place the handheld green bottle upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the bottle with hexagonal blue cap, place the bottle with white printed label upright.",
+    "With the left arm, take the bottle with ridges near base, pass outside the medium-sized white plastic shampoo, and put the bottle with ridges near base upright.",
+    "Direct the left arm to pick the plastic bottle up, avoid the blue top shampoo bottle, and stand the plastic bottle upright.",
+    "With the left arm, pick the handheld green bottle up, avoid the curved shampoo bottle, and put the handheld green bottle upright.",
+    "Pick up the smooth green bottle with the left arm, keep it away from the white and blue shampoo container, place the smooth green bottle upright.",
+    "Grab the plastic bottle, steer it around the handheld shampoo container, and place the plastic bottle upright.",
+    "Use the left arm to pick the smooth green bottle up, avoid the white and blue shampoo container, and place the smooth green bottle upright.",
+    "Lift the plastic bottle, route its path away from the shampoo bottle with curved sides, then set the plastic bottle upright.",
+    "With the left arm, pick up the handheld green bottle, steer away from the plastic shampoo bottle, and stand the handheld green bottle up.",
+    "Move the bottle with rounded neck from its spot, skirt the medium-sized white plastic shampoo, and stand the bottle with rounded neck upright.",
+    "Pick up the plastic bottle, route it around the white shampoo bottle, then stand the plastic bottle upright.",
+    "Take the handheld green bottle, keep clear of the shampoo bottle with blue cap, and place the handheld green bottle upright.",
+    "With the left arm, secure the plastic bottle, pass around the blue top shampoo bottle, and set the plastic bottle upright.",
+    "Lift the medium green bottle with capped neck, keep its path away from the blue top shampoo bottle, and set the medium green bottle with capped neck upright.",
+    "Lift the smooth green bottle, route it around the blue top shampoo bottle, then set the smooth green bottle upright.",
+    "Take the bottle with narrow top up, skirt the shampoo bottle with curved sides, and put the bottle with narrow top down upright.",
+    "Grab the bottle with ridges near base, avoid the bottle with hexagonal blue cap while moving, then place the bottle with ridges near base upright.",
+    "With the left arm, take the medium green bottle with capped neck, avoid the bottle with hexagonal blue cap while moving, and set the medium green bottle with capped neck upright.",
+    "Grab the medium green bottle with capped neck, move it without crossing the blue top shampoo bottle, then place the medium green bottle with capped neck upright.",
+    "With the left arm, lift the handheld green bottle, keep it away from the white shampoo bottle, place the handheld green bottle upright.",
+    "Lift the bottle with narrow top, keep its path clear of the bottle with hexagonal blue cap, then set the bottle with narrow top upright.",
+    "Have the left arm grasp the smooth green bottle, avoid the shampoo bottle with blue cap while moving, and set the smooth green bottle upright.",
+    "Take the medium green bottle with capped neck, route it away from the white shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "Grab the medium-sized green bottle, keep it away from the white and blue shampoo container, and put the medium-sized green bottle down upright.",
+    "Move the bottle with ridges near base away from the curved shampoo bottle as you lift, then place the bottle with ridges near base upright.",
+    "With the left arm, take the medium-sized green bottle up, steer past the shampoo bottle with blue cap, and place the medium-sized green bottle upright.",
+    "Pick up the handheld green bottle, swing wide around the shampoo bottle with blue cap, and set the handheld green bottle upright.",
+    "Use the left arm to lift the smooth green bottle, avoid the shampoo bottle with curved sides en route, and stand the smooth green bottle up."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode74.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a19c042cb78d6812ed150cf863f9236e4f13b52
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth bottle with red lid, route it away from the shampoo bottle with handle slot, and place the smooth bottle with red lid upright.",
+    "Lift the medium dark brown bottle, guide it around the yellow container with green pump, then stand the medium dark brown bottle upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the shampoo bottle with rounded body, then place the Coca-Cola bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the shampoo bottle with handle slot, then set the dark drink bottle with logo upright.",
+    "Use the left arm to grab the long thin bottle, carry it away from the shampoo with green dispensing pump, set the long thin bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, avoid the bottle with cartoon label while moving, and set the Coca-Cola bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the yellow container with green pump, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the plastic shampoo bottle with label, and put the narrow-necked bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the yellow shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Grab the plastic drink bottle, keep it from the plastic shampoo bottle with label, and set the plastic drink bottle upright.",
+    "Grab the dark drink bottle with logo, carry it around the yellow shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the yellow bottle with green top, and place the narrow-necked bottle upright.",
+    "With the left arm, secure the long thin bottle, pass around the yellow container with green pump, and set the long thin bottle upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the shampoo with green dispensing pump, and stand the brown bottle with red label upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the yellow bottle with green top, then stand the narrow-necked bottle up.",
+    "Pick up the narrow-necked bottle, route it around the medium shampoo bottle with pump, then stand the narrow-necked bottle upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the smooth bottle with green top, place the hand-sized soda bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the medium shampoo bottle with pump, and place the narrow-necked bottle upright.",
+    "With the left arm, take the long thin bottle up, steer past the plastic shampoo bottle with label, and place the long thin bottle upright.",
+    "Grip the Coca-Cola bottle with the left arm, keep distance from the yellow shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, pass clear of the medium shampoo bottle with pump, then place the bottle with ridges on bottom upright.",
+    "Move the red-capped bottle from its spot, skirt the bottle with cartoon label, and stand the red-capped bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the yellow shampoo with cartoon design, place the bottle with white neck and red top upright.",
+    "Have the left arm grasp the plastic drink bottle, avoid the shampoo bottle with rounded body while moving, and set the plastic drink bottle upright.",
+    "Take the narrow-necked bottle, keep clear of the medium shampoo bottle with pump, and place the narrow-necked bottle upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the medium shampoo bottle with pump en route, and stand the bottle with white neck and red top up.",
+    "Take the hand-sized soda bottle up, skirt the shampoo with green dispensing pump, and put the hand-sized soda bottle down upright.",
+    "Take the long thin bottle, move it without nearing the yellow bottle with green top, and stand the long thin bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the shampoo bottle with handle slot, place the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, route it around the plastic shampoo bottle with label, then set the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the shampoo bottle with rounded body while moving, then place the bottle with ridges on bottom upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the smooth bottle with green top, place the bottle with white neck and red top upright.",
+    "Grab the narrow-necked bottle, move it without crossing the shampoo bottle with rounded body, then place the narrow-necked bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the yellow shampoo with cartoon design, and put the dark drink bottle with logo upright.",
+    "Grab the smooth bottle with red lid, keep it away from the hand-sized yellow shampoo bottle, and put the smooth bottle with red lid down upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the plastic shampoo bottle with label, and stand the bottle with white neck and red top up.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle with handle slot, and set the narrow-necked bottle upright.",
+    "Move the dark drink bottle with logo away from the yellow container with green pump as you lift, then place the dark drink bottle with logo upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the plastic shampoo bottle with label, and place the plastic drink bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the yellow shampoo with cartoon design, and set the smooth bottle with red lid upright.",
+    "Take the dark drink bottle with logo, route it away from the smooth bottle with green top, and place the dark drink bottle with logo upright.",
+    "Lift the brown bottle with red label, guide it around the shampoo bottle with rounded body, then stand the brown bottle with red label upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the hand-sized yellow shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the yellow shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the shampoo with green dispensing pump, set the bottle with ridges on bottom upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the medium shampoo bottle with pump while moving, and set the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, steer it around the yellow bottle with green top, and place the long thin bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the shampoo bottle with handle slot, and put the hand-sized soda bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle with rounded body, then set the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, keep it from the yellow shampoo with cartoon design, and set the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the yellow bottle with green top, then stand the Coca-Cola bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the shampoo with green dispensing pump, and place the smooth bottle with red lid upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the yellow shampoo with cartoon design, and set the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the yellow shampoo with cartoon design, and stand the brown bottle with red label upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the hand-sized yellow shampoo bottle, then stand the brown bottle with red label up.",
+    "Pick up the Coca-Cola bottle, route it around the hand-sized yellow shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Pick the bottle with ridges on bottom up, keep its path clear of the yellow container with green pump, place the bottle with ridges on bottom upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the yellow shampoo bottle, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the shampoo with green dispensing pump, and place the smooth bottle with red lid upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the shampoo with green dispensing pump, then set the narrow-necked bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the yellow bottle with green top, then place the smooth bottle with red lid upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the yellow container with green pump, and stand the hand-sized soda bottle upright.",
+    "Pick up the plastic drink bottle with the left arm, keep it away from the shampoo bottle with rounded body, place the plastic drink bottle upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the yellow shampoo bottle while moving, and set the narrow-necked bottle upright.",
+    "Take the red-capped bottle, keep clear of the yellow shampoo with cartoon design, and place the red-capped bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the shampoo bottle with handle slot en route, and stand the hand-sized soda bottle up.",
+    "Take the bottle with white neck and red top up, skirt the shampoo with green dispensing pump, and put the bottle with white neck and red top down upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the shampoo bottle with rounded body, and stand the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the plastic shampoo bottle with label, place the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, route it around the yellow bottle with green top, then set the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, avoid the yellow shampoo with cartoon design while moving, then place the brown bottle with red label upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the shampoo bottle with handle slot, place the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the shampoo bottle with rounded body, then place the hand-sized soda bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the shampoo bottle with handle slot, and put the dark drink bottle with logo upright.",
+    "Grab the hand-sized soda bottle, keep it away from the shampoo with green dispensing pump, and put the hand-sized soda bottle down upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the shampoo bottle with handle slot, and stand the brown bottle with red label up.",
+    "Lift the bottle with ridges on bottom, keep its path away from the shampoo bottle with handle slot, and set the bottle with ridges on bottom upright.",
+    "Move the plastic drink bottle away from the plastic shampoo bottle with label as you lift, then place the plastic drink bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the plastic shampoo bottle with label, and place the long thin bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the yellow shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Take the smooth bottle with red lid, route it away from the yellow shampoo with cartoon design, and place the smooth bottle with red lid upright.",
+    "Lift the narrow-necked bottle, guide it around the shampoo bottle with rounded body, then stand the narrow-necked bottle upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the yellow container with green pump, then place the long thin bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the yellow shampoo with cartoon design, then set the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the hand-sized yellow shampoo bottle, set the smooth bottle with red lid upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the yellow container with green pump while moving, and set the smooth bottle with red lid upright.",
+    "Grab the long thin bottle, steer it around the yellow shampoo with cartoon design, and place the long thin bottle upright.",
+    "With the left arm, take the long thin bottle, pass outside the shampoo bottle with handle slot, and put the long thin bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the smooth bottle with green top, then set the bottle with white neck and red top upright.",
+    "Grab the long thin bottle, keep it from the yellow shampoo bottle, and set the long thin bottle upright.",
+    "Grab the bottle with ridges on bottom, carry it around the plastic shampoo bottle with label, then stand the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the yellow shampoo bottle, and place the red-capped bottle upright.",
+    "With the left arm, secure the brown bottle with red label, pass around the yellow shampoo bottle, and set the brown bottle with red label upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the hand-sized yellow shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the bottle with cartoon label, then stand the smooth bottle with red lid up.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo bottle with rounded body, then stand the dark drink bottle with logo upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the shampoo with green dispensing pump, place the medium dark brown bottle upright.",
+    "Guide the left arm to take the hand-sized soda bottle, bypass the plastic shampoo bottle with label, and place the hand-sized soda bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the yellow container with green pump, and place the bottle with ridges on bottom upright.",
+    "Grip the brown bottle with red label with the left arm, keep distance from the yellow bottle with green top, then set the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow bottle with rounded edges, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode75.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84958ede6243cee8113d506ca2ea35ff7189dc0
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the small smooth shampoo bottle, place the medium dark brown bottle upright.",
+    "Pick up the Coca-Cola bottle, route it around the shampoo bottle with matte plastic, then stand the Coca-Cola bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the curved light blue shampoo bottle, and set the red-capped bottle upright.",
+    "Lift the narrow-necked bottle, guide it around the shampoo bottle with white cap, then stand the narrow-necked bottle upright.",
+    "Pick up the narrow-necked bottle with the left arm, keep it away from the shampoo bottle tapered toward cap, place the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the hand-sized shampoo bottle, then place the medium dark brown bottle upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the bottle light blue rounded shape, place the red-capped bottle upright.",
+    "Move the long thin bottle from its spot, skirt the blue shampoo bottle slender design, and stand the long thin bottle upright.",
+    "Take the bottle with white neck and red top, move it without nearing the hand-sized shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "Using the left arm, lift the long thin bottle, pass clear of the light blue shampoo bottle small size, then place the long thin bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, avoid the curved light blue shampoo bottle while moving, and set the bottle with white neck and red top upright.",
+    "Lift the long thin bottle, route it around the shampoo bottle flat bottom edge, then set the long thin bottle upright.",
+    "Take the narrow-necked bottle, keep clear of the light blue shampoo bottle small size, and place the narrow-necked bottle upright.",
+    "Use the left arm, raise the brown bottle with red label, keep distance from the bottle light blue rounded shape, then place the brown bottle with red label upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the bottle light blue rounded shape, and put the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, avoid the small smooth shampoo bottle while moving, then place the medium dark brown bottle upright.",
+    "Take the narrow-necked bottle, route it away from the light blue shampoo bottle small size, and place the narrow-necked bottle upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the small smooth shampoo bottle, and place the plastic drink bottle upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the blue shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the shampoo bottle with white cap, then set the bottle with white neck and red top upright.",
+    "With the left arm, take the Coca-Cola bottle up, steer past the bottle light blue rounded shape, and place the Coca-Cola bottle upright.",
+    "Grab the Coca-Cola bottle, keep it from the hand-sized shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the curved light blue shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the bottle light blue rounded shape, set the brown bottle with red label upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the blue shampoo bottle slender design, and put the narrow-necked bottle upright.",
+    "Grab the long thin bottle, carry it around the blue shampoo bottle slender design, then stand the long thin bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the bottle of shampoo, then set the bottle with white neck and red top upright.",
+    "Guide the left arm to take the long thin bottle, bypass the small smooth shampoo bottle, and place the long thin bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the small smooth shampoo bottle, then stand the medium dark brown bottle up.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the shampoo bottle with white cap while moving, and set the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, steer it around the hand-sized shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the curved light blue shampoo bottle, place the medium dark brown bottle upright.",
+    "Lift the long thin bottle, keep its path away from the shampoo bottle flat bottom edge, and set the long thin bottle upright.",
+    "Lift the plastic drink bottle, keep its path clear of the curved light blue shampoo bottle, then set the plastic drink bottle upright.",
+    "Take the narrow-necked bottle up, skirt the blue shampoo bottle slender design, and put the narrow-necked bottle down upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the bottle light blue rounded shape en route, and stand the Coca-Cola bottle up.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle flat bottom edge, and put the dark drink bottle with logo down upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the curved light blue shampoo bottle, and stand the medium dark brown bottle upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the bottle light blue rounded shape, and stand the hand-sized soda bottle up.",
+    "Move the long thin bottle away from the curved light blue shampoo bottle as you lift, then place the long thin bottle upright.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the shampoo bottle tapered toward cap, place the Coca-Cola bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo bottle tapered toward cap, then stand the dark drink bottle with logo upright.",
+    "Pick up the brown bottle with red label, swing wide around the shampoo bottle tapered toward cap, and set the brown bottle with red label upright.",
+    "Lift the red-capped bottle, guide it around the shampoo bottle tapered toward cap, then stand the red-capped bottle upright.",
+    "Pick up the narrow-necked bottle with the left arm, keep it away from the light blue shampoo bottle small size, place the narrow-necked bottle upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the light blue shampoo bottle small size, then place the smooth bottle with red lid upright.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the light blue shampoo bottle small size, place the narrow-necked bottle upright.",
+    "Move the red-capped bottle from its spot, skirt the shampoo bottle flat bottom edge, and stand the red-capped bottle upright.",
+    "Take the hand-sized soda bottle, move it without nearing the small smooth shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the hand-sized shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the left arm, take the red-capped bottle, avoid the light blue shampoo bottle small size while moving, and set the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, route it around the bottle of shampoo, then set the medium dark brown bottle upright.",
+    "Take the smooth bottle with red lid, keep clear of the shampoo bottle flat bottom edge, and place the smooth bottle with red lid upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the blue shampoo bottle slender design, then place the Coca-Cola bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the curved light blue shampoo bottle, and put the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, avoid the shampoo bottle tapered toward cap while moving, then place the Coca-Cola bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the blue shampoo bottle slender design, and place the Coca-Cola bottle upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the shampoo bottle with matte plastic, and place the medium dark brown bottle upright.",
+    "With the left arm, secure the red-capped bottle, pass around the shampoo bottle tapered toward cap, and set the red-capped bottle upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the bottle light blue rounded shape, then set the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the curved light blue shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, keep it from the small smooth shampoo bottle, and set the red-capped bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the small smooth shampoo bottle, and place the brown bottle with red label upright.",
+    "Use the left arm to grab the medium dark brown bottle, carry it away from the bottle of shampoo, set the medium dark brown bottle upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the curved light blue shampoo bottle, and put the red-capped bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the curved light blue shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Lift the plastic drink bottle, route its path away from the blue shampoo bottle, then set the plastic drink bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the curved light blue shampoo bottle, and place the long thin bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the light blue shampoo bottle small size, then stand the red-capped bottle up.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the shampoo bottle with matte plastic while moving, and set the smooth bottle with red lid upright.",
+    "Grab the medium dark brown bottle, steer it around the bottle of shampoo, and place the medium dark brown bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the shampoo bottle tapered toward cap, place the narrow-necked bottle upright.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle flat bottom edge, and set the narrow-necked bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle flat bottom edge, then set the dark drink bottle with logo upright.",
+    "Take the bottle with white neck and red top up, skirt the blue shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the bottle light blue rounded shape en route, and stand the dark drink bottle with logo up.",
+    "Grab the red-capped bottle, keep it away from the bottle of shampoo, and put the red-capped bottle down upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the shampoo bottle tapered toward cap, and stand the medium dark brown bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the light blue shampoo bottle small size, and stand the red-capped bottle up.",
+    "Move the narrow-necked bottle away from the shampoo bottle tapered toward cap as you lift, then place the narrow-necked bottle upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the bottle light blue rounded shape, place the long thin bottle upright.",
+    "Pick up the bottle with ridges on bottom, route it around the blue shampoo bottle slender design, then stand the bottle with ridges on bottom upright.",
+    "Pick up the brown bottle with red label, swing wide around the hand-sized shampoo bottle, and set the brown bottle with red label upright.",
+    "Lift the Coca-Cola bottle, guide it around the blue shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the shampoo bottle tapered toward cap, place the medium dark brown bottle upright.",
+    "Grab the long thin bottle, move it without crossing the blue shampoo bottle, then place the long thin bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the small smooth shampoo bottle, place the hand-sized soda bottle upright.",
+    "Move the brown bottle with red label from its spot, skirt the blue shampoo bottle, and stand the brown bottle with red label upright.",
+    "Take the medium dark brown bottle, move it without nearing the blue shampoo bottle slender design, and stand the medium dark brown bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, pass clear of the small smooth shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "With the left arm, take the bottle with ridges on bottom, avoid the blue shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "Lift the bottle with white neck and red top, route it around the shampoo bottle with white cap, then set the bottle with white neck and red top upright.",
+    "Take the bottle with white neck and red top, keep clear of the bottle of shampoo, and place the bottle with white neck and red top upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the shampoo bottle with matte plastic, then place the long thin bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the hand-sized shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Grab the dark drink bottle with logo, avoid the shampoo bottle with matte plastic while moving, then place the dark drink bottle with logo upright.",
+    "Take the plastic drink bottle, route it away from the blue shampoo bottle, and place the plastic drink bottle upright.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the small smooth shampoo bottle, and place the smooth bottle with red lid upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the hand-sized shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the curved light blue shampoo bottle, then set the bottle with ridges on bottom upright."
+  ],
+  "unseen": [
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode76.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e32a075c7a95eacf8e6e5b95dc909cf84c77560
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the dark drink bottle with logo, carry it away from the hand-sized shampoo bottle, set the dark drink bottle with logo upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the shampoo bottle with pink cap, and stand the Coca-Cola bottle upright.",
+    "Take the long thin bottle, route it away from the pink-topped shampoo bottle, and place the long thin bottle upright.",
+    "Move the bottle with white neck and red top from its spot, skirt the plastic shampoo container, and stand the bottle with white neck and red top upright.",
+    "Take the bottle with ridges on bottom up, skirt the glossy white shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Take the Coca-Cola bottle, keep clear of the white body pink flip cap bottle, and place the Coca-Cola bottle upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the white body pink flip cap bottle while moving, and set the narrow-necked bottle upright.",
+    "Pick the red-capped bottle up, keep its path clear of the oval-shaped shampoo bottle, place the red-capped bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the glossy white shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the white body pink flip cap bottle, place the brown bottle with red label upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the hand-sized shampoo bottle, and put the narrow-necked bottle upright.",
+    "Lift the brown bottle with red label, guide it around the medium oval plastic shampoo container, then stand the brown bottle with red label upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the white shampoo bottle, place the medium dark brown bottle upright.",
+    "With the left arm, pick up the plastic drink bottle, steer away from the plastic shampoo container, and stand the plastic drink bottle up.",
+    "With the left arm, take the plastic drink bottle, avoid the shampoo dispenser with flat base while moving, and set the plastic drink bottle upright.",
+    "Grab the plastic drink bottle, steer it around the white shampoo bottle, and place the plastic drink bottle upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the shampoo dispenser with flat base, place the long thin bottle upright.",
+    "Use the left arm to lift the brown bottle with red label, avoid the pink-topped shampoo bottle en route, and stand the brown bottle with red label up.",
+    "Lift the brown bottle with red label, keep its path clear of the medium oval plastic shampoo container, then set the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, carry it around the white shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the smooth white shampoo dispenser, and put the bottle with ridges on bottom down upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the medium oval plastic shampoo container, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the plastic shampoo container, and put the hand-sized soda bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the plastic shampoo container, then place the hand-sized soda bottle upright.",
+    "Lift the bottle with ridges on bottom, route it around the white shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Using the left arm, grasp the bottle with white neck and red top, move it past the white body pink flip cap bottle, then stand the bottle with white neck and red top up.",
+    "Lift the dark drink bottle with logo, keep its path away from the smooth white shampoo dispenser, and set the dark drink bottle with logo upright.",
+    "Take the long thin bottle, move it without nearing the pink-topped shampoo bottle, and stand the long thin bottle upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the pink-topped shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, move it without crossing the plastic shampoo container, then place the medium dark brown bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the pink-topped shampoo bottle, and place the long thin bottle upright.",
+    "Move the long thin bottle away from the oval-shaped shampoo bottle as you lift, then place the long thin bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the shampoo dispenser with flat base, and place the narrow-necked bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the oval-shaped shampoo bottle, then set the medium dark brown bottle upright.",
+    "Grab the brown bottle with red label, avoid the glossy white shampoo bottle while moving, then place the brown bottle with red label upright.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the smooth white shampoo dispenser, and set the dark drink bottle with logo upright.",
+    "Grip the dark drink bottle with logo with the left arm, keep distance from the white body pink flip cap bottle, then set the dark drink bottle with logo upright.",
+    "Use the left arm, raise the medium dark brown bottle, keep distance from the medium shampoo bottle, then place the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it from the plastic shampoo container, and set the bottle with ridges on bottom upright.",
+    "Pick up the brown bottle with red label, route it around the white body pink flip cap bottle, then stand the brown bottle with red label upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the shampoo dispenser with flat base, set the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the medium shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Take the dark drink bottle with logo, route it away from the medium oval plastic shampoo container, and place the dark drink bottle with logo upright.",
+    "Move the medium dark brown bottle from its spot, skirt the plastic shampoo container, and stand the medium dark brown bottle upright.",
+    "Take the red-capped bottle up, skirt the pink-topped shampoo bottle, and put the red-capped bottle down upright.",
+    "Take the brown bottle with red label, keep clear of the white body pink flip cap bottle, and place the brown bottle with red label upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the plastic shampoo container while moving, and set the medium dark brown bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the glossy white shampoo bottle, place the medium dark brown bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the white shampoo bottle, and set the red-capped bottle upright.",
+    "Using the left arm, pick the bottle with ridges on bottom up, keep clear of the medium shampoo bottle, place the bottle with ridges on bottom upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the shampoo dispenser with flat base, and put the brown bottle with red label upright.",
+    "Lift the long thin bottle, guide it around the white shampoo bottle, then stand the long thin bottle upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the medium oval plastic shampoo container, place the hand-sized soda bottle upright.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the smooth white shampoo dispenser, and stand the smooth bottle with red lid up.",
+    "With the left arm, take the narrow-necked bottle, avoid the oval-shaped shampoo bottle while moving, and set the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, steer it around the shampoo dispenser with flat base, and place the plastic drink bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the medium shampoo bottle, place the red-capped bottle upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the white shampoo bottle en route, and stand the smooth bottle with red lid up.",
+    "Lift the narrow-necked bottle, keep its path clear of the plastic shampoo container, then set the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the pink-topped shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, keep it away from the oval-shaped shampoo bottle, and put the red-capped bottle down upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the medium shampoo bottle, and place the dark drink bottle with logo upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the medium shampoo bottle, and put the Coca-Cola bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the pink-topped shampoo bottle, then place the smooth bottle with red lid upright.",
+    "Lift the long thin bottle, route it around the pink-topped shampoo bottle, then set the long thin bottle upright.",
+    "Using the left arm, grasp the Coca-Cola bottle, move it past the pink-topped shampoo bottle, then stand the Coca-Cola bottle up.",
+    "Lift the long thin bottle, keep its path away from the glossy white shampoo bottle, and set the long thin bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the medium oval plastic shampoo container, and stand the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the white body pink flip cap bottle, and place the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the smooth white shampoo dispenser, then place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the long thin bottle, bypass the hand-sized shampoo bottle, and place the long thin bottle upright.",
+    "Move the long thin bottle away from the shampoo dispenser with flat base as you lift, then place the long thin bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the white shampoo bottle, and place the red-capped bottle upright.",
+    "Lift the brown bottle with red label, route its path away from the glossy white shampoo bottle, then set the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, avoid the oval-shaped shampoo bottle while moving, then place the brown bottle with red label upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the medium oval plastic shampoo container, and set the plastic drink bottle upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the plastic shampoo container, then set the red-capped bottle upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the smooth white shampoo dispenser, then place the long thin bottle upright.",
+    "Grab the red-capped bottle, keep it from the medium shampoo bottle, and set the red-capped bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the shampoo bottle with pink cap, then stand the medium dark brown bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the oval-shaped shampoo bottle, set the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the plastic shampoo container, and stand the narrow-necked bottle upright.",
+    "Take the bottle with white neck and red top, route it away from the plastic shampoo container, and place the bottle with white neck and red top upright.",
+    "Move the brown bottle with red label from its spot, skirt the shampoo bottle with pink cap, and stand the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top up, skirt the shampoo bottle with pink cap, and put the bottle with white neck and red top down upright.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo dispenser with flat base, and place the bottle with ridges on bottom upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the medium shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the medium oval plastic shampoo container, place the plastic drink bottle upright.",
+    "Pick up the long thin bottle, swing wide around the plastic shampoo container, and set the long thin bottle upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the medium shampoo bottle, place the smooth bottle with red lid upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the plastic shampoo container, and put the Coca-Cola bottle upright.",
+    "Lift the plastic drink bottle, guide it around the medium oval plastic shampoo container, then stand the plastic drink bottle upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the smooth white shampoo dispenser, place the brown bottle with red label upright.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the white shampoo bottle, and stand the Coca-Cola bottle up.",
+    "With the left arm, take the long thin bottle, avoid the white body pink flip cap bottle while moving, and set the long thin bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the glossy white shampoo bottle, and place the medium dark brown bottle upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the medium shampoo bottle, place the smooth bottle with red lid upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the smooth white shampoo dispenser en route, and stand the dark drink bottle with logo up.",
+    "Lift the red-capped bottle, keep its path clear of the oval-shaped shampoo bottle, then set the red-capped bottle upright.",
+    "Grab the plastic drink bottle, carry it around the white body pink flip cap bottle, then stand the plastic drink bottle upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode77.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..70147f729b2b11d5e14e6977e3a424ff1f9229f7
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium dark brown bottle, steer it around the medium size shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the shampoo bottle with black pump, and put the narrow-necked bottle upright.",
+    "Grab the brown bottle with red label, avoid the plastic shampoo container while moving, then place the brown bottle with red label upright.",
+    "Take the narrow-necked bottle, keep clear of the shampoo bottle, green with black cap, and place the narrow-necked bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the hand-sized shampoo bottle en route, and stand the hand-sized soda bottle up.",
+    "Lift the hand-sized soda bottle, keep its path away from the shampoo bottle with black pump, and set the hand-sized soda bottle upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the rectangular green plastic shampoo dispenser, place the medium dark brown bottle upright.",
+    "Lift the plastic drink bottle, route it around the shampoo bottle with black pump, then set the plastic drink bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the shampoo bottle with matte black pump, then place the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the shampoo container with dispensing pump, then stand the hand-sized soda bottle up.",
+    "Move the narrow-necked bottle from its spot, skirt the rectangular dark green shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Grab the red-capped bottle, keep it from the dark green bottle with pump, and set the red-capped bottle upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the medium size shampoo bottle, and stand the red-capped bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the hand-sized shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Grab the narrow-necked bottle, keep it away from the plastic shampoo container, and put the narrow-necked bottle down upright.",
+    "Use the left arm to pick the brown bottle with red label up, avoid the plastic shampoo container, and place the brown bottle with red label upright.",
+    "Take the medium dark brown bottle up, skirt the shampoo bottle with matte black pump, and put the medium dark brown bottle down upright.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the plastic shampoo container, place the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the shampoo container with dispensing pump, then place the bottle with ridges on bottom upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the shampoo bottle, green with black cap while moving, and set the smooth bottle with red lid upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the shampoo bottle with black pump, and place the red-capped bottle upright.",
+    "With the left arm, secure the red-capped bottle, pass around the rectangular dark green shampoo bottle, and set the red-capped bottle upright.",
+    "Grab the plastic drink bottle, carry it around the rectangular dark green shampoo bottle, then stand the plastic drink bottle upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the shampoo bottle, green with black cap, then place the bottle with ridges on bottom upright.",
+    "Move the red-capped bottle away from the shampoo bottle with smooth surface as you lift, then place the red-capped bottle upright.",
+    "Take the long thin bottle, move it without nearing the shampoo container with dispensing pump, and stand the long thin bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the shampoo bottle with matte black pump, then set the long thin bottle upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the rectangular green plastic shampoo dispenser, place the medium dark brown bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the shampoo bottle with matte black pump, set the bottle with white neck and red top upright.",
+    "Have the left arm grasp the brown bottle with red label, avoid the green shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Guide the left arm to take the brown bottle with red label, bypass the shampoo container with dispensing pump, and place the brown bottle with red label upright.",
+    "Pick up the plastic drink bottle, route it around the green shampoo bottle, then stand the plastic drink bottle upright.",
+    "Pick up the long thin bottle, swing wide around the rectangular dark green shampoo bottle, and set the long thin bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the shampoo bottle, green with black cap, then stand the medium dark brown bottle upright.",
+    "Lift the plastic drink bottle, route its path away from the shampoo bottle with matte black pump, then set the plastic drink bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the rectangular green plastic shampoo dispenser, then set the bottle with ridges on bottom upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the rectangular dark green shampoo bottle, and stand the red-capped bottle up.",
+    "With the left arm, take the red-capped bottle, pass outside the rectangular dark green shampoo bottle, and put the red-capped bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the shampoo bottle with matte black pump, place the medium dark brown bottle upright.",
+    "Take the dark drink bottle with logo, route it away from the rectangular dark green shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, steer it around the green shampoo bottle, and place the brown bottle with red label upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the rectangular dark green shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, avoid the shampoo bottle with black pump while moving, then place the hand-sized soda bottle upright.",
+    "Take the long thin bottle, keep clear of the shampoo bottle with black pump, and place the long thin bottle upright.",
+    "Use the left arm to lift the long thin bottle, avoid the rectangular dark green shampoo bottle en route, and stand the long thin bottle up.",
+    "Lift the medium dark brown bottle, keep its path away from the hand-sized shampoo bottle, and set the medium dark brown bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the rectangular dark green shampoo bottle, place the bottle with white neck and red top upright.",
+    "Lift the Coca-Cola bottle, route it around the shampoo bottle with black pump, then set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the shampoo bottle with smooth surface, then place the brown bottle with red label upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the shampoo bottle with matte black pump, then stand the brown bottle with red label up.",
+    "Move the plastic drink bottle from its spot, skirt the dark green bottle with pump, and stand the plastic drink bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the shampoo bottle with matte black pump, and set the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the dark green bottle with pump, and stand the bottle with white neck and red top upright.",
+    "With the left arm, take the narrow-necked bottle up, steer past the hand-sized shampoo bottle, and place the narrow-necked bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the rectangular green plastic shampoo dispenser, and put the bottle with ridges on bottom down upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the shampoo bottle, green with black cap, and place the bottle with white neck and red top upright.",
+    "Take the smooth bottle with red lid up, skirt the green shampoo bottle, and put the smooth bottle with red lid down upright.",
+    "Using the left arm, pick the dark drink bottle with logo up, keep clear of the shampoo container with dispensing pump, place the dark drink bottle with logo upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the rectangular green plastic shampoo dispenser, then place the Coca-Cola bottle upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo bottle with smooth surface while moving, and set the narrow-necked bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the shampoo bottle with matte black pump, and place the bottle with ridges on bottom upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the shampoo bottle with black pump, and set the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the hand-sized shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the rectangular dark green shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Move the dark drink bottle with logo away from the medium size shampoo bottle as you lift, then place the dark drink bottle with logo upright.",
+    "Take the red-capped bottle, move it without nearing the dark green bottle with pump, and stand the red-capped bottle upright.",
+    "Grip the red-capped bottle with the left arm, keep distance from the plastic shampoo container, then set the red-capped bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the dark green bottle with pump, place the bottle with white neck and red top upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the rectangular dark green shampoo bottle, set the plastic drink bottle upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the shampoo bottle with black pump while moving, and set the smooth bottle with red lid upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the medium size shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Pick up the bottle with ridges on bottom, route it around the rectangular green plastic shampoo dispenser, then stand the bottle with ridges on bottom upright.",
+    "Pick up the dark drink bottle with logo, swing wide around the shampoo bottle with smooth surface, and set the dark drink bottle with logo upright.",
+    "Lift the plastic drink bottle, guide it around the plastic shampoo container, then stand the plastic drink bottle upright.",
+    "Lift the dark drink bottle with logo, route its path away from the dark green bottle with pump, then set the dark drink bottle with logo upright.",
+    "Lift the long thin bottle, keep its path clear of the shampoo bottle with matte black pump, then set the long thin bottle upright.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the green shampoo bottle, and stand the smooth bottle with red lid up.",
+    "With the left arm, take the narrow-necked bottle, pass outside the shampoo bottle with matte black pump, and put the narrow-necked bottle upright.",
+    "Pick the bottle with white neck and red top up, keep its path clear of the shampoo bottle with matte black pump, place the bottle with white neck and red top upright.",
+    "Take the red-capped bottle, route it away from the medium size shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the shampoo bottle with matte black pump, and place the bottle with white neck and red top upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the shampoo container with dispensing pump, and put the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, avoid the medium size shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle, keep clear of the hand-sized shampoo bottle, and place the plastic drink bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the rectangular green plastic shampoo dispenser en route, and stand the hand-sized soda bottle up.",
+    "Lift the bottle with white neck and red top, keep its path away from the green shampoo bottle, and set the bottle with white neck and red top upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the shampoo container with dispensing pump, place the smooth bottle with red lid upright.",
+    "Lift the dark drink bottle with logo, route it around the shampoo container with dispensing pump, then set the dark drink bottle with logo upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the shampoo container with dispensing pump, then place the brown bottle with red label upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the plastic shampoo container, then stand the hand-sized soda bottle up.",
+    "Move the bottle with white neck and red top from its spot, skirt the shampoo bottle, green with black cap, and stand the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, keep it from the medium size shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the hand-sized shampoo bottle, and stand the brown bottle with red label upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the rectangular dark green shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Grab the hand-sized soda bottle, keep it away from the rectangular green plastic shampoo dispenser, and put the hand-sized soda bottle down upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the shampoo bottle with black pump, and place the dark drink bottle with logo upright.",
+    "Take the red-capped bottle up, skirt the plastic shampoo container, and put the red-capped bottle down upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the medium size shampoo bottle, place the hand-sized soda bottle upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the shampoo bottle, green with black cap, then place the smooth bottle with red lid upright.",
+    "With the left arm, take the bottle with white neck and red top, avoid the shampoo container with dispensing pump while moving, and set the bottle with white neck and red top upright."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the green bottle with pump top, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode78.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf8b5b7cb6886074ae75646ce06d7657958ea1e
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the shampoo bottle with rectangular base, place the dark drink bottle with logo upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the white bottle with golden accents, place the brown bottle with red label upright.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the white bottle with golden accents, then place the plastic drink bottle upright.",
+    "Take the plastic drink bottle up, skirt the bottle with yellow cap, and put the plastic drink bottle down upright.",
+    "Move the bottle with white neck and red top away from the bottle with yellow cap as you lift, then place the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, guide it around the plastic shampoo bottle with smooth surface, then stand the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the shampoo bottle with rectangular base, and place the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, avoid the hand-held shampoo bottle while moving, then place the plastic drink bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the medium shampoo container, and set the hand-sized soda bottle upright.",
+    "Grab the hand-sized soda bottle, keep it away from the bottle for shampoo with glossy finish, and put the hand-sized soda bottle down upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the rectangular shampoo bottle with rounded top, then set the long thin bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the plastic shampoo bottle with smooth surface, and set the plastic drink bottle upright.",
+    "Take the red-capped bottle, route it away from the bottle for shampoo with glossy finish, and place the red-capped bottle upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the medium shampoo container en route, and stand the narrow-necked bottle up.",
+    "With the left arm, take the plastic drink bottle, pass outside the hand-held shampoo bottle, and put the plastic drink bottle upright.",
+    "Lift the brown bottle with red label, route it around the white bottle with golden accents, then set the brown bottle with red label upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the rectangular shampoo bottle with rounded top while moving, and set the medium dark brown bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the white shampoo bottle, place the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, keep it from the bottle with yellow cap, and set the red-capped bottle upright.",
+    "Grab the red-capped bottle, carry it around the shampoo bottle with rectangular base, then stand the red-capped bottle upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the shampoo bottle with rectangular base, and place the dark drink bottle with logo upright.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the plastic shampoo bottle with smooth surface, and place the Coca-Cola bottle upright.",
+    "Guide the left arm to take the narrow-necked bottle, bypass the bottle for shampoo with glossy finish, and place the narrow-necked bottle upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the rectangular shampoo bottle with rounded top, and put the Coca-Cola bottle upright.",
+    "Have the left arm grasp the bottle with ridges on bottom, avoid the plastic shampoo bottle with smooth surface while moving, and set the bottle with ridges on bottom upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the smooth shampoo container, and set the medium dark brown bottle upright.",
+    "Pick up the long thin bottle, route it around the shampoo bottle with rectangular base, then stand the long thin bottle upright.",
+    "Move the medium dark brown bottle from its spot, skirt the white shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Take the long thin bottle, keep clear of the rectangular shampoo bottle with rounded top, and place the long thin bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the shampoo bottle with rectangular base, then place the narrow-necked bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the white bottle with golden accents, then set the medium dark brown bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the rectangular shampoo bottle with rounded top, and stand the plastic drink bottle upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the bottle for shampoo with glossy finish, and stand the medium dark brown bottle upright.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the white bottle with golden accents, place the Coca-Cola bottle upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the white shampoo bottle with golden top, and place the long thin bottle upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the shampoo bottle with rectangular base, and stand the bottle with white neck and red top up.",
+    "Lift the long thin bottle, keep its path clear of the plastic shampoo bottle with smooth surface, then set the long thin bottle upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the rectangular shampoo bottle with rounded top, set the red-capped bottle upright.",
+    "Using the left arm, grasp the bottle with white neck and red top, move it past the shampoo bottle, then stand the bottle with white neck and red top up.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle with rectangular base, place the bottle with ridges on bottom upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the white bottle with golden accents, place the smooth bottle with red lid upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the hand-held shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Take the dark drink bottle with logo up, skirt the smooth shampoo container, and put the dark drink bottle with logo down upright.",
+    "Move the red-capped bottle away from the medium shampoo container as you lift, then place the red-capped bottle upright.",
+    "Lift the long thin bottle, guide it around the plastic shampoo bottle with smooth surface, then stand the long thin bottle upright.",
+    "Grab the bottle with ridges on bottom, steer it around the hand-held shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Grab the long thin bottle, avoid the medium shampoo container while moving, then place the long thin bottle upright.",
+    "Pick up the medium dark brown bottle, swing wide around the medium shampoo container, and set the medium dark brown bottle upright.",
+    "Grab the red-capped bottle, keep it away from the hand-held shampoo bottle, and put the red-capped bottle down upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the bottle with yellow cap, then set the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, keep its path away from the white shampoo bottle with golden top, and set the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, route it away from the bottle for shampoo with glossy finish, and place the Coca-Cola bottle upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the shampoo bottle with rectangular base, then place the bottle with ridges on bottom upright.",
+    "Use the left arm to lift the medium dark brown bottle, avoid the shampoo bottle with rectangular base en route, and stand the medium dark brown bottle up.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the rectangular shampoo bottle with rounded top, and put the hand-sized soda bottle upright.",
+    "Lift the brown bottle with red label, route it around the rectangular shampoo bottle with rounded top, then set the brown bottle with red label upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the bottle for shampoo with glossy finish while moving, and set the hand-sized soda bottle upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the rectangular shampoo bottle with rounded top, place the medium dark brown bottle upright.",
+    "Grab the brown bottle with red label, keep it from the shampoo bottle, and set the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the bottle with yellow cap, and place the bottle with white neck and red top upright.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the white bottle with golden accents, and place the medium dark brown bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the shampoo bottle with rectangular base, and put the long thin bottle upright.",
+    "Have the left arm grasp the bottle with ridges on bottom, avoid the rectangular shampoo bottle with rounded top while moving, and set the bottle with ridges on bottom upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the plastic shampoo bottle with smooth surface, and set the Coca-Cola bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the white bottle with golden accents, then stand the medium dark brown bottle upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the smooth shampoo container, and stand the hand-sized soda bottle upright.",
+    "Take the plastic drink bottle, keep clear of the bottle with yellow cap, and place the plastic drink bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the white shampoo bottle with golden top, then place the bottle with white neck and red top upright.",
+    "Lift the plastic drink bottle, route its path away from the shampoo bottle, then set the plastic drink bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the white shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the shampoo bottle with rectangular base, place the red-capped bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the bottle for shampoo with glossy finish, and place the bottle with ridges on bottom upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the rectangular shampoo bottle with rounded top, and stand the hand-sized soda bottle up.",
+    "Lift the Coca-Cola bottle, keep its path clear of the white bottle with golden accents, then set the Coca-Cola bottle upright.",
+    "Use the left arm to grab the dark drink bottle with logo, carry it away from the white shampoo bottle, set the dark drink bottle with logo upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the shampoo bottle with rectangular base, then stand the brown bottle with red label up.",
+    "With the left arm, lift the long thin bottle, keep it away from the shampoo bottle, place the long thin bottle upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the shampoo bottle with rectangular base, place the long thin bottle upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the white bottle with golden accents, then place the dark drink bottle with logo upright.",
+    "Take the bottle with ridges on bottom up, skirt the shampoo bottle with rectangular base, and put the bottle with ridges on bottom down upright.",
+    "Move the brown bottle with red label away from the white shampoo bottle as you lift, then place the brown bottle with red label upright.",
+    "Lift the brown bottle with red label, guide it around the white bottle with golden accents, then stand the brown bottle with red label upright.",
+    "Grab the medium dark brown bottle, steer it around the hand-held shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the white shampoo bottle while moving, then place the dark drink bottle with logo upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the white bottle with golden accents, and set the bottle with ridges on bottom upright.",
+    "Grab the dark drink bottle with logo, keep it away from the white bottle with golden accents, and put the dark drink bottle with logo down upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the hand-held shampoo bottle, then set the plastic drink bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the rectangular shampoo bottle with rounded top, and set the medium dark brown bottle upright.",
+    "Take the narrow-necked bottle, route it away from the white shampoo bottle, and place the narrow-necked bottle upright.",
+    "Grab the red-capped bottle, move it without crossing the white shampoo bottle, then place the red-capped bottle upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the bottle for shampoo with glossy finish en route, and stand the bottle with ridges on bottom up.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the bottle for shampoo with glossy finish, and put the Coca-Cola bottle upright.",
+    "Lift the medium dark brown bottle, route it around the hand-held shampoo bottle, then set the medium dark brown bottle upright.",
+    "With the left arm, take the brown bottle with red label, avoid the white shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the bottle with yellow cap, place the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the shampoo bottle, and set the bottle with white neck and red top upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the medium-sized shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the medium-sized shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white plastic shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the medium-sized shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white plastic shampoo bottle, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the medium-sized shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white plastic shampoo bottle, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white plastic shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, then set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode79.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e07a77ccc2c53f2fcd00076da3d934357768d05
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bottle with ridges on bottom up, keep its path clear of the dark green bottle with pump, place the bottle with ridges on bottom upright.",
+    "Move the red-capped bottle from its spot, skirt the shampoo bottle with black pump, and stand the red-capped bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the shampoo bottle with smooth surface, and place the long thin bottle upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the hand-sized shampoo bottle, then place the hand-sized soda bottle upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the shampoo bottle with black pump, and stand the brown bottle with red label upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the shampoo bottle with black pump, and place the Coca-Cola bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the shampoo container with dispensing pump, place the brown bottle with red label upright.",
+    "With the left arm, take the narrow-necked bottle, pass outside the plastic shampoo container, and put the narrow-necked bottle upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the hand-sized shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Move the smooth bottle with red lid away from the rectangular dark green shampoo bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Take the bottle with white neck and red top up, skirt the hand-sized shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the shampoo bottle, green with black cap, then place the plastic drink bottle upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the dark green bottle with pump, and place the dark drink bottle with logo upright.",
+    "Grab the bottle with white neck and red top, avoid the green shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the bottle with white neck and red top, move it past the rectangular green plastic shampoo dispenser, then stand the bottle with white neck and red top up.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the shampoo bottle, green with black cap, then place the hand-sized soda bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the shampoo bottle with smooth surface, then set the bottle with ridges on bottom upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the shampoo bottle, green with black cap, and set the medium dark brown bottle upright.",
+    "Take the long thin bottle, move it without nearing the dark green bottle with pump, and stand the long thin bottle upright.",
+    "Grab the plastic drink bottle, keep it from the plastic shampoo container, and set the plastic drink bottle upright.",
+    "Lift the dark drink bottle with logo, route it around the medium size shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Pick up the narrow-necked bottle, swing wide around the rectangular green plastic shampoo dispenser, and set the narrow-necked bottle upright.",
+    "Grab the brown bottle with red label, carry it around the hand-sized shampoo bottle, then stand the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, steer it around the shampoo bottle with matte black pump, and place the bottle with ridges on bottom upright.",
+    "Take the plastic drink bottle, keep clear of the hand-sized shampoo bottle, and place the plastic drink bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the dark green bottle with pump, then stand the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, keep its path away from the hand-sized shampoo bottle, and set the medium dark brown bottle upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the plastic shampoo container, place the Coca-Cola bottle upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the shampoo bottle with matte black pump while moving, and set the narrow-necked bottle upright.",
+    "Take the red-capped bottle, route it away from the rectangular green plastic shampoo dispenser, and place the red-capped bottle upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the shampoo container with dispensing pump, set the smooth bottle with red lid upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the rectangular green plastic shampoo dispenser, then set the hand-sized soda bottle upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the green shampoo bottle en route, and stand the narrow-necked bottle up.",
+    "With the left arm, pick up the long thin bottle, steer away from the shampoo container with dispensing pump, and stand the long thin bottle up.",
+    "Grab the smooth bottle with red lid, keep it away from the shampoo bottle with smooth surface, and put the smooth bottle with red lid down upright.",
+    "With the left arm, take the dark drink bottle with logo, avoid the green shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Pick up the smooth bottle with red lid, route it around the shampoo bottle with black pump, then stand the smooth bottle with red lid upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the green shampoo bottle, and put the smooth bottle with red lid upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the rectangular dark green shampoo bottle, place the medium dark brown bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the dark green bottle with pump, then set the bottle with ridges on bottom upright.",
+    "Pick the bottle with white neck and red top up, keep its path clear of the green shampoo bottle, place the bottle with white neck and red top upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the dark green bottle with pump, and stand the hand-sized soda bottle upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the shampoo bottle with smooth surface, and place the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, move it without crossing the plastic shampoo container, then place the long thin bottle upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the rectangular green plastic shampoo dispenser, and stand the narrow-necked bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the rectangular green plastic shampoo dispenser, and place the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the shampoo bottle with matte black pump, place the bottle with white neck and red top upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the dark green bottle with pump, and put the bottle with ridges on bottom upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the rectangular green plastic shampoo dispenser, and place the medium dark brown bottle upright.",
+    "Move the long thin bottle away from the shampoo bottle with black pump as you lift, then place the long thin bottle upright.",
+    "Take the smooth bottle with red lid up, skirt the hand-sized shampoo bottle, and put the smooth bottle with red lid down upright.",
+    "Use the left arm, raise the smooth bottle with red lid, keep distance from the dark green bottle with pump, then place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the shampoo bottle with black pump, and place the Coca-Cola bottle upright.",
+    "Grab the long thin bottle, avoid the medium size shampoo bottle while moving, then place the long thin bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the shampoo bottle with matte black pump, then stand the smooth bottle with red lid up.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the shampoo bottle with smooth surface, then place the narrow-necked bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle with black pump, then set the dark drink bottle with logo upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the dark green bottle with pump, and set the medium dark brown bottle upright.",
+    "Take the red-capped bottle, move it without nearing the hand-sized shampoo bottle, and stand the red-capped bottle upright.",
+    "Grab the red-capped bottle, keep it from the shampoo bottle with black pump, and set the red-capped bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the hand-sized shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the shampoo bottle with black pump, and set the bottle with ridges on bottom upright.",
+    "Grab the brown bottle with red label, carry it around the green shampoo bottle, then stand the brown bottle with red label upright.",
+    "Grab the long thin bottle, steer it around the dark green bottle with pump, and place the long thin bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the dark green bottle with pump, and place the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, guide it around the hand-sized shampoo bottle, then stand the red-capped bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the rectangular green plastic shampoo dispenser, and set the smooth bottle with red lid upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the shampoo bottle with matte black pump, place the Coca-Cola bottle upright.",
+    "Have the left arm grasp the bottle with ridges on bottom, avoid the rectangular dark green shampoo bottle while moving, and set the bottle with ridges on bottom upright.",
+    "Take the smooth bottle with red lid, route it away from the plastic shampoo container, and place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the hand-sized shampoo bottle, set the red-capped bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the rectangular green plastic shampoo dispenser, then set the long thin bottle upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the dark green bottle with pump en route, and stand the narrow-necked bottle up.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the shampoo bottle with black pump, and stand the Coca-Cola bottle up.",
+    "Grab the dark drink bottle with logo, keep it away from the rectangular green plastic shampoo dispenser, and put the dark drink bottle with logo down upright.",
+    "With the left arm, take the long thin bottle, avoid the shampoo bottle with matte black pump while moving, and set the long thin bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo bottle with black pump, then stand the dark drink bottle with logo upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the shampoo bottle with matte black pump, and put the smooth bottle with red lid upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the medium size shampoo bottle, place the hand-sized soda bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the dark green bottle with pump, then set the bottle with white neck and red top upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the shampoo bottle with matte black pump, place the Coca-Cola bottle upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the hand-sized shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the green shampoo bottle, and place the long thin bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the medium size shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the shampoo bottle with matte black pump, and stand the narrow-necked bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the green shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the hand-sized shampoo bottle, place the brown bottle with red label upright.",
+    "With the left arm, take the medium dark brown bottle, pass outside the hand-sized shampoo bottle, and put the medium dark brown bottle upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the dark green bottle with pump, and place the bottle with white neck and red top upright.",
+    "Move the narrow-necked bottle away from the medium size shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Take the Coca-Cola bottle up, skirt the shampoo bottle with smooth surface, and put the Coca-Cola bottle down upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the shampoo bottle with matte black pump, then place the Coca-Cola bottle upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the rectangular green plastic shampoo dispenser, and place the Coca-Cola bottle upright.",
+    "Grab the brown bottle with red label, avoid the shampoo bottle, green with black cap while moving, then place the brown bottle with red label upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the medium size shampoo bottle, then stand the smooth bottle with red lid up.",
+    "Using the left arm, lift the long thin bottle, pass clear of the plastic shampoo container, then place the long thin bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path clear of the shampoo container with dispensing pump, then set the smooth bottle with red lid upright.",
+    "With the left arm, secure the long thin bottle, pass around the rectangular dark green shampoo bottle, and set the long thin bottle upright.",
+    "Take the brown bottle with red label, move it without nearing the green shampoo bottle, and stand the brown bottle with red label upright.",
+    "Grab the brown bottle with red label, keep it from the green shampoo bottle, and set the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the dark green pump shampoo bottle, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the green bottle with pump top, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the dark green pump shampoo bottle, and place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the green bottle with pump top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the green bottle with pump top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode8.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..e668f0b1ddb97589919c18f563b0c017fd4c39b5
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the brown bottle with red label, avoid the curved shampoo bottle en route, and stand the brown bottle with red label up.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the plastic shampoo with orange label, and place the medium dark brown bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the medium-sized white plastic shampoo, and place the long thin bottle upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the shampoo bottle with curved sides, then set the smooth bottle with red lid upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the medium-sized white plastic shampoo, place the dark drink bottle with logo upright.",
+    "Take the long thin bottle, move it without nearing the plastic shampoo with orange label, and stand the long thin bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the blue top shampoo bottle, and put the plastic drink bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the blue top shampoo bottle, then stand the medium dark brown bottle up.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the plastic shampoo with orange label, place the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, avoid the blue top shampoo bottle while moving, then place the Coca-Cola bottle upright.",
+    "Grab the brown bottle with red label, carry it around the blue top shampoo bottle, then stand the brown bottle with red label upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the handheld shampoo container, and stand the medium dark brown bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the white and blue shampoo container, and set the smooth bottle with red lid upright.",
+    "Lift the brown bottle with red label, guide it around the white shampoo bottle, then stand the brown bottle with red label upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the blue top shampoo bottle, and put the Coca-Cola bottle upright.",
+    "Lift the long thin bottle, route its path away from the shampoo bottle with curved sides, then set the long thin bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the blue top shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Have the left arm grasp the long thin bottle, avoid the handheld shampoo container while moving, and set the long thin bottle upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the white and blue shampoo container, place the Coca-Cola bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the curved shampoo bottle, set the brown bottle with red label upright.",
+    "Grab the smooth bottle with red lid, keep it from the blue top shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the curved shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the blue top shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the medium-sized white plastic shampoo, then place the hand-sized soda bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the bottle with hexagonal blue cap while moving, and set the smooth bottle with red lid upright.",
+    "Grab the hand-sized soda bottle, keep it away from the white and blue shampoo container, and put the hand-sized soda bottle down upright.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the handheld shampoo container, and stand the narrow-necked bottle up.",
+    "Use the left arm, raise the long thin bottle, keep distance from the medium-sized white plastic shampoo, then place the long thin bottle upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the shampoo bottle with blue cap, and set the bottle with white neck and red top upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the bottle with hexagonal blue cap, and place the plastic drink bottle upright.",
+    "Grab the hand-sized soda bottle, steer it around the plastic shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the shampoo bottle with blue cap, and place the medium dark brown bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the white shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle with curved sides, place the bottle with ridges on bottom upright.",
+    "Lift the bottle with white neck and red top, route it around the bottle with hexagonal blue cap, then set the bottle with white neck and red top upright.",
+    "Move the long thin bottle from its spot, skirt the blue top shampoo bottle, and stand the long thin bottle upright.",
+    "Take the medium dark brown bottle, keep clear of the handheld shampoo container, and place the medium dark brown bottle upright.",
+    "Take the bottle with white neck and red top up, skirt the curved shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Move the plastic drink bottle away from the shampoo bottle with curved sides as you lift, then place the plastic drink bottle upright.",
+    "Take the long thin bottle, route it away from the blue top shampoo bottle, and place the long thin bottle upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the medium-sized white plastic shampoo en route, and stand the Coca-Cola bottle up.",
+    "Guide the left arm to take the plastic drink bottle, bypass the plastic shampoo with orange label, and place the plastic drink bottle upright.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the shampoo bottle with curved sides, and place the hand-sized soda bottle upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the white and blue shampoo container, then set the hand-sized soda bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the bottle with smooth surface, place the narrow-necked bottle upright.",
+    "Take the brown bottle with red label, move it without nearing the curved shampoo bottle, and stand the brown bottle with red label upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the handheld shampoo container, and put the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the handheld shampoo container, then stand the red-capped bottle up.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the medium-sized white plastic shampoo, place the red-capped bottle upright.",
+    "Grab the plastic drink bottle, avoid the plastic shampoo bottle while moving, then place the plastic drink bottle upright.",
+    "Grab the brown bottle with red label, carry it around the medium-sized white plastic shampoo, then stand the brown bottle with red label upright.",
+    "Direct the left arm to pick the narrow-necked bottle up, avoid the shampoo bottle with curved sides, and stand the narrow-necked bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the plastic shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the medium-sized white plastic shampoo, then stand the bottle with white neck and red top upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the white and blue shampoo container, and put the brown bottle with red label upright.",
+    "Lift the plastic drink bottle, route its path away from the blue top shampoo bottle, then set the plastic drink bottle upright.",
+    "Pick up the long thin bottle, route it around the medium-sized white plastic shampoo, then stand the long thin bottle upright.",
+    "Have the left arm grasp the Coca-Cola bottle, avoid the white and blue shampoo container while moving, and set the Coca-Cola bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the curved shampoo bottle, place the bottle with white neck and red top upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the handheld shampoo container, set the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, keep it from the plastic shampoo with orange label, and set the dark drink bottle with logo upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the plastic shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Pick up the long thin bottle, swing wide around the curved shampoo bottle, and set the long thin bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, pass clear of the curved shampoo bottle, then place the Coca-Cola bottle upright.",
+    "With the left arm, take the plastic drink bottle, avoid the blue top shampoo bottle while moving, and set the plastic drink bottle upright.",
+    "Grab the long thin bottle, keep it away from the curved shampoo bottle, and put the long thin bottle down upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the medium-sized white plastic shampoo, and stand the brown bottle with red label up.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the shampoo bottle with curved sides, then place the bottle with white neck and red top upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the shampoo bottle with curved sides, and set the bottle with ridges on bottom upright.",
+    "With the left arm, take the red-capped bottle up, steer past the curved shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the narrow-necked bottle, steer it around the bottle with smooth surface, and place the narrow-necked bottle upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the curved shampoo bottle, and place the long thin bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the plastic shampoo bottle, then place the medium dark brown bottle upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the plastic shampoo with orange label, place the Coca-Cola bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the plastic shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Move the long thin bottle from its spot, skirt the white and blue shampoo container, and stand the long thin bottle upright.",
+    "Take the plastic drink bottle, keep clear of the shampoo bottle with blue cap, and place the plastic drink bottle upright.",
+    "Take the hand-sized soda bottle up, skirt the bottle with hexagonal blue cap, and put the hand-sized soda bottle down upright.",
+    "Move the red-capped bottle away from the bottle with hexagonal blue cap as you lift, then place the red-capped bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the shampoo bottle with curved sides, and place the Coca-Cola bottle upright.",
+    "Use the left arm to lift the medium dark brown bottle, avoid the curved shampoo bottle en route, and stand the medium dark brown bottle up.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the plastic shampoo with orange label, and place the dark drink bottle with logo upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the shampoo bottle with blue cap, and place the narrow-necked bottle upright.",
+    "Grip the medium dark brown bottle with the left arm, keep distance from the curved shampoo bottle, then set the medium dark brown bottle upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the shampoo bottle with blue cap, place the brown bottle with red label upright.",
+    "Take the red-capped bottle, move it without nearing the white and blue shampoo container, and stand the red-capped bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the medium-sized white plastic shampoo, and put the Coca-Cola bottle upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the handheld shampoo container, then stand the smooth bottle with red lid up.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the curved shampoo bottle, place the red-capped bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the white shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, carry it around the handheld shampoo container, then stand the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the shampoo bottle with curved sides, and stand the medium dark brown bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the blue top shampoo bottle, and set the medium dark brown bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the bottle with smooth surface, then stand the dark drink bottle with logo upright.",
+    "With the left arm, pick the Coca-Cola bottle up, avoid the bottle with smooth surface, and put the Coca-Cola bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the white and blue shampoo container, then set the narrow-necked bottle upright.",
+    "Pick up the plastic drink bottle, route it around the plastic shampoo with orange label, then stand the plastic drink bottle upright.",
+    "Have the left arm grasp the red-capped bottle, avoid the white shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the medium-sized white plastic shampoo, place the hand-sized soda bottle upright.",
+    "Use the left arm to grab the long thin bottle, carry it away from the shampoo bottle with blue cap, set the long thin bottle upright."
+  ],
+  "unseen": [
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, then set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container in white and blue, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container in white and blue, and place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the brown bottle, move it clear of the shampoo container in white and blue, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the bottle with red screw cap, move it clear of the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the blue-capped shampoo bottle, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the white shampoo with orange design, then place the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode80.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fbd36cdb57342990c439032cd45b250e1ee52c
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the smooth green bottle up, keep its path clear of the blue shampoo bottle, place the smooth green bottle upright.",
+    "Using the right arm, grasp the medium-sized green bottle, move it past the shampoo bottle tapered toward cap, then stand the medium-sized green bottle up.",
+    "With the right arm, take the medium green bottle, avoid the blue shampoo bottle slender design while moving, and set the medium green bottle upright.",
+    "Grab the bottle with ridges near base, move it without crossing the shampoo bottle with matte plastic, then place the bottle with ridges near base upright.",
+    "With the right arm, take the medium green bottle with capped neck up, steer past the blue shampoo bottle slender design, and place the medium green bottle with capped neck upright.",
+    "Lift the bottle with narrow top, guide it around the bottle of shampoo, then stand the bottle with narrow top upright.",
+    "Using the right arm, lift the bottle with ridges near base, pass clear of the shampoo bottle with white cap, then place the bottle with ridges near base upright.",
+    "With the right arm, pick the bottle with rounded neck up, avoid the shampoo bottle with white cap, and put the bottle with rounded neck upright.",
+    "Take the green bottle with indented base, keep clear of the small smooth shampoo bottle, and place the green bottle with indented base upright.",
+    "With the right arm, take the smooth green plastic bottle, pass outside the light blue shampoo bottle small size, and put the smooth green plastic bottle upright.",
+    "Move the medium green bottle from its spot, skirt the shampoo bottle tapered toward cap, and stand the medium green bottle upright.",
+    "Using the right arm, pick the smooth green plastic bottle up, keep clear of the blue shampoo bottle, place the smooth green plastic bottle upright.",
+    "Have the right arm grasp the plastic bottle, avoid the shampoo bottle with matte plastic while moving, and set the plastic bottle upright.",
+    "Pick up the green bottle with indented base, swing wide around the shampoo bottle tapered toward cap, and set the green bottle with indented base upright.",
+    "Pick up the smooth green plastic bottle with the right arm, keep it away from the light blue shampoo bottle small size, place the smooth green plastic bottle upright.",
+    "With the right arm, secure the bottle with rounded neck, pass around the shampoo bottle flat bottom edge, and set the bottle with rounded neck upright.",
+    "With the right arm, lift the medium-sized green bottle, keep it away from the shampoo bottle flat bottom edge, place the medium-sized green bottle upright.",
+    "Grab the handheld green bottle, keep it from the blue shampoo bottle slender design, and set the handheld green bottle upright.",
+    "Take the bottle with white printed label, move it without nearing the shampoo bottle flat bottom edge, and stand the bottle with white printed label upright.",
+    "Use the right arm to grab the green bottle with indented base, carry it away from the light blue shampoo bottle small size, set the green bottle with indented base upright.",
+    "With the right arm, pick up the bottle with rounded neck, steer away from the curved light blue shampoo bottle, and stand the bottle with rounded neck up.",
+    "Grip the smooth green plastic bottle with the right arm, keep distance from the blue shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Lift the handheld green bottle, keep its path clear of the shampoo bottle tapered toward cap, then set the handheld green bottle upright.",
+    "Direct the right arm to pick the smooth green bottle up, avoid the shampoo bottle flat bottom edge, and stand the smooth green bottle upright.",
+    "Using the right arm, lift the bottle with narrow top, keep clear of the bottle light blue rounded shape, and place the bottle with narrow top upright.",
+    "Use the right arm to lift the medium-sized green bottle, avoid the bottle light blue rounded shape en route, and stand the medium-sized green bottle up.",
+    "Move the handheld green bottle away from the curved light blue shampoo bottle as you lift, then place the handheld green bottle upright.",
+    "Lift the medium green bottle with capped neck, route it around the curved light blue shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "Use the right arm to pick the handheld green bottle up, avoid the curved light blue shampoo bottle, and place the handheld green bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the blue shampoo bottle slender design, then stand the smooth green plastic bottle upright.",
+    "Lift the smooth green bottle, keep its path away from the small smooth shampoo bottle, and set the smooth green bottle upright.",
+    "Grab the green bottle with indented base, avoid the blue shampoo bottle while moving, then place the green bottle with indented base upright.",
+    "Take the green bottle with indented base, route it away from the shampoo bottle with white cap, and place the green bottle with indented base upright.",
+    "Lift the medium-sized green bottle, route its path away from the bottle of shampoo, then set the medium-sized green bottle upright.",
+    "Grab the bottle with white printed label, keep it away from the blue shampoo bottle slender design, and put the bottle with white printed label down upright.",
+    "Take the handheld green bottle up, skirt the bottle of shampoo, and put the handheld green bottle down upright.",
+    "Grab the bottle with narrow top, steer it around the shampoo bottle with white cap, and place the bottle with narrow top upright.",
+    "Guide the right arm to take the smooth green bottle, bypass the shampoo bottle flat bottom edge, and place the smooth green bottle upright.",
+    "Pick up the bottle with white printed label, route it around the shampoo bottle with white cap, then stand the bottle with white printed label upright.",
+    "Use the right arm, raise the medium green bottle with capped neck, keep distance from the shampoo bottle with white cap, then place the medium green bottle with capped neck upright.",
+    "Pick the bottle with rounded neck up, keep its path clear of the shampoo bottle flat bottom edge, place the bottle with rounded neck upright.",
+    "Using the right arm, grasp the bottle with rounded neck, move it past the shampoo bottle with matte plastic, then stand the bottle with rounded neck up.",
+    "With the right arm, take the smooth green bottle, avoid the bottle light blue rounded shape while moving, and set the smooth green bottle upright.",
+    "Grab the handheld green bottle, move it without crossing the bottle of shampoo, then place the handheld green bottle upright.",
+    "With the right arm, take the smooth green bottle up, steer past the blue shampoo bottle, and place the smooth green bottle upright.",
+    "Lift the bottle with white printed label, guide it around the shampoo bottle with white cap, then stand the bottle with white printed label upright.",
+    "Using the right arm, lift the handheld green bottle, pass clear of the light blue shampoo bottle small size, then place the handheld green bottle upright.",
+    "With the right arm, pick the bottle with rounded neck up, avoid the shampoo bottle tapered toward cap, and put the bottle with rounded neck upright.",
+    "Take the smooth green plastic bottle, keep clear of the shampoo bottle flat bottom edge, and place the smooth green plastic bottle upright.",
+    "With the right arm, take the handheld green bottle, pass outside the hand-sized shampoo bottle, and put the handheld green bottle upright.",
+    "Move the medium green bottle with capped neck from its spot, skirt the curved light blue shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Using the right arm, pick the handheld green bottle up, keep clear of the bottle light blue rounded shape, place the handheld green bottle upright.",
+    "Have the right arm grasp the medium-sized green bottle, avoid the blue shampoo bottle while moving, and set the medium-sized green bottle upright.",
+    "Pick up the smooth green bottle, swing wide around the bottle of shampoo, and set the smooth green bottle upright.",
+    "Pick up the bottle with rounded neck with the right arm, keep it away from the shampoo bottle tapered toward cap, place the bottle with rounded neck upright.",
+    "With the right arm, secure the medium-sized green bottle, pass around the shampoo bottle flat bottom edge, and set the medium-sized green bottle upright.",
+    "With the right arm, lift the bottle with ridges near base, keep it away from the blue shampoo bottle slender design, place the bottle with ridges near base upright.",
+    "Grab the bottle with rounded neck, keep it from the blue shampoo bottle slender design, and set the bottle with rounded neck upright.",
+    "Take the medium-sized green bottle, move it without nearing the shampoo bottle with white cap, and stand the medium-sized green bottle upright.",
+    "Use the right arm to grab the green bottle with indented base, carry it away from the bottle of shampoo, set the green bottle with indented base upright.",
+    "With the right arm, pick up the green bottle with indented base, steer away from the shampoo bottle with white cap, and stand the green bottle with indented base up.",
+    "Grip the smooth green bottle with the right arm, keep distance from the hand-sized shampoo bottle, then set the smooth green bottle upright.",
+    "Lift the bottle with rounded neck, keep its path clear of the shampoo bottle with matte plastic, then set the bottle with rounded neck upright.",
+    "Direct the right arm to pick the medium green bottle with capped neck up, avoid the bottle light blue rounded shape, and stand the medium green bottle with capped neck upright.",
+    "Using the right arm, lift the medium green bottle with capped neck, keep clear of the shampoo bottle with white cap, and place the medium green bottle with capped neck upright.",
+    "Use the right arm to lift the smooth green bottle, avoid the shampoo bottle with matte plastic en route, and stand the smooth green bottle up.",
+    "Move the bottle with narrow top away from the hand-sized shampoo bottle as you lift, then place the bottle with narrow top upright.",
+    "Lift the medium green bottle, route it around the hand-sized shampoo bottle, then set the medium green bottle upright.",
+    "Use the right arm to pick the plastic bottle up, avoid the hand-sized shampoo bottle, and place the plastic bottle upright.",
+    "Grab the green bottle with indented base, carry it around the shampoo bottle tapered toward cap, then stand the green bottle with indented base upright.",
+    "Lift the bottle with rounded neck, keep its path away from the blue shampoo bottle, and set the bottle with rounded neck upright.",
+    "Grab the green bottle with indented base, avoid the blue shampoo bottle while moving, then place the green bottle with indented base upright.",
+    "Take the smooth green bottle, route it away from the shampoo bottle flat bottom edge, and place the smooth green bottle upright.",
+    "Lift the bottle with rounded neck, route its path away from the blue shampoo bottle, then set the bottle with rounded neck upright.",
+    "Grab the bottle with rounded neck, keep it away from the bottle of shampoo, and put the bottle with rounded neck down upright.",
+    "Take the handheld green bottle up, skirt the curved light blue shampoo bottle, and put the handheld green bottle down upright.",
+    "Grab the bottle with narrow top, steer it around the small smooth shampoo bottle, and place the bottle with narrow top upright.",
+    "Guide the right arm to take the smooth green plastic bottle, bypass the shampoo bottle with white cap, and place the smooth green plastic bottle upright.",
+    "Pick up the bottle with rounded neck, route it around the shampoo bottle flat bottom edge, then stand the bottle with rounded neck upright.",
+    "Use the right arm, raise the medium-sized green bottle, keep distance from the blue shampoo bottle slender design, then place the medium-sized green bottle upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the small smooth shampoo bottle, place the bottle with white printed label upright.",
+    "Using the right arm, grasp the bottle with narrow top, move it past the blue shampoo bottle slender design, then stand the bottle with narrow top up.",
+    "With the right arm, take the smooth green bottle, avoid the shampoo bottle tapered toward cap while moving, and set the smooth green bottle upright.",
+    "Grab the handheld green bottle, move it without crossing the small smooth shampoo bottle, then place the handheld green bottle upright.",
+    "With the right arm, take the bottle with white printed label up, steer past the curved light blue shampoo bottle, and place the bottle with white printed label upright.",
+    "Lift the plastic bottle, guide it around the shampoo bottle tapered toward cap, then stand the plastic bottle upright.",
+    "Using the right arm, lift the bottle with rounded neck, pass clear of the blue shampoo bottle slender design, then place the bottle with rounded neck upright.",
+    "With the right arm, pick the bottle with rounded neck up, avoid the light blue shampoo bottle small size, and put the bottle with rounded neck upright.",
+    "Take the handheld green bottle, keep clear of the blue shampoo bottle, and place the handheld green bottle upright.",
+    "With the right arm, take the medium green bottle with capped neck, pass outside the bottle of shampoo, and put the medium green bottle with capped neck upright.",
+    "Move the medium-sized green bottle from its spot, skirt the small smooth shampoo bottle, and stand the medium-sized green bottle upright.",
+    "Using the right arm, pick the green bottle with indented base up, keep clear of the blue shampoo bottle slender design, place the green bottle with indented base upright.",
+    "Have the right arm grasp the medium-sized green bottle, avoid the shampoo bottle tapered toward cap while moving, and set the medium-sized green bottle upright.",
+    "Pick up the green bottle with indented base, swing wide around the light blue shampoo bottle small size, and set the green bottle with indented base upright.",
+    "Pick up the bottle with narrow top with the right arm, keep it away from the curved light blue shampoo bottle, place the bottle with narrow top upright.",
+    "With the right arm, secure the bottle with ridges near base, pass around the curved light blue shampoo bottle, and set the bottle with ridges near base upright.",
+    "With the right arm, lift the medium-sized green bottle, keep it away from the blue shampoo bottle, place the medium-sized green bottle upright.",
+    "Grab the handheld green bottle, keep it from the shampoo bottle tapered toward cap, and set the handheld green bottle upright.",
+    "Take the medium green bottle with capped neck, move it without nearing the bottle of shampoo, and stand the medium green bottle with capped neck upright.",
+    "Use the right arm to grab the bottle with white printed label, carry it away from the shampoo bottle flat bottom edge, set the bottle with white printed label upright."
+  ],
+  "unseen": [
+    "Grab the green plastic bottle with ridged bottom, move it clear of the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the smooth bottle containing shampoo, and set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the smooth bottle containing shampoo, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth bottle containing shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo container white rounded top, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the smooth bottle containing shampoo, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the oval light blue shampoo container, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container white rounded top, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the smooth bottle containing shampoo, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo container white rounded top, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the smooth bottle containing shampoo, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo container white rounded top, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth bottle containing shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo container white rounded top, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container white rounded top, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo container white rounded top, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container white rounded top, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container white rounded top, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the smooth bottle containing shampoo, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo container white rounded top, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo container white rounded top, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the smooth bottle containing shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the oval light blue shampoo container, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the smooth bottle containing shampoo, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the smooth bottle containing shampoo, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the oval light blue shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the smooth bottle containing shampoo, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo container white rounded top, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the shampoo container white rounded top, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth bottle containing shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the oval light blue shampoo container, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth bottle containing shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the smooth bottle containing shampoo, and set the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the oval light blue shampoo container, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the shampoo container white rounded top, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the oval light blue shampoo container, then set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the oval light blue shampoo container, and place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the smooth bottle containing shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the oval light blue shampoo container, and set the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo container white rounded top, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the oval light blue shampoo container, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the oval light blue shampoo container, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo container white rounded top, then set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the smooth bottle containing shampoo, and place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo container white rounded top, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo container white rounded top, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth bottle containing shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the oval light blue shampoo container, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the smooth bottle containing shampoo, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the green bottle, move it clear of the smooth bottle containing shampoo, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the smooth bottle containing shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo container white rounded top, and set the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the smooth bottle containing shampoo, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the oval light blue shampoo container, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the smooth bottle containing shampoo, and place the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the smooth bottle containing shampoo, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container white rounded top, and set the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the smooth bottle containing shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container white rounded top, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth bottle containing shampoo, then set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo container white rounded top, and place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the smooth bottle containing shampoo, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container white rounded top, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the oval light blue shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the oval light blue shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the oval light blue shampoo container, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the oval light blue shampoo container, then set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the oval light blue shampoo container, and place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the green bottle, move it clear of the oval light blue shampoo container, then place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the smooth bottle containing shampoo, and set the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the smooth bottle containing shampoo, and set the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the smooth bottle containing shampoo, then place the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode81.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2320296b4b92eb3d4fd682dfcd90e60c9f40909
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium green bottle with capped neck with the left arm, keep it away from the hand-sized pink shampoo container, place the medium green bottle with capped neck upright.",
+    "With the left arm, lift the medium green bottle, keep it away from the rectangular pink shampoo container, place the medium green bottle upright.",
+    "Using the left arm, lift the bottle with ridges near base, pass clear of the pink bottle with black dispenser, then place the bottle with ridges near base upright.",
+    "With the left arm, take the green bottle with indented base up, steer past the pink shampoo container with pump top, and place the green bottle with indented base upright.",
+    "With the left arm, take the handheld green bottle, avoid the rectangular pink bottle with dispenser while moving, and set the handheld green bottle upright.",
+    "Pick up the smooth green plastic bottle, route it around the pink bottle with black dispenser, then stand the smooth green plastic bottle upright.",
+    "Take the plastic bottle up, skirt the medium pink bottle for shampoo, and put the plastic bottle down upright.",
+    "Direct the left arm to pick the handheld green bottle up, avoid the shampoo bottle with shiny pink body, and stand the handheld green bottle upright.",
+    "Have the left arm grasp the medium green bottle, avoid the shampoo bottle with rectangular shape while moving, and set the medium green bottle upright.",
+    "Take the smooth green bottle, keep clear of the medium pink bottle for shampoo, and place the smooth green bottle upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the medium pink bottle for shampoo, and stand the smooth green plastic bottle upright.",
+    "Take the medium green bottle, move it without nearing the pink bottle with black dispenser, and stand the medium green bottle upright.",
+    "Grab the plastic bottle, move it without crossing the medium pink bottle for shampoo, then place the plastic bottle upright.",
+    "With the left arm, pick the medium-sized green bottle up, avoid the plastic shampoo bottle with black pump, and put the medium-sized green bottle upright.",
+    "Grab the plastic bottle, keep it away from the rectangular pink shampoo container, and put the plastic bottle down upright.",
+    "With the left arm, secure the bottle with narrow top, pass around the medium pink bottle for shampoo, and set the bottle with narrow top upright.",
+    "Grab the smooth green bottle, steer it around the pink bottle with narrow top, and place the smooth green bottle upright.",
+    "Grab the plastic bottle, carry it around the rectangular pink bottle with dispenser, then stand the plastic bottle upright.",
+    "Using the left arm, pick the green bottle with indented base up, keep clear of the rectangular pink shampoo container, place the green bottle with indented base upright.",
+    "With the left arm, pick up the plastic bottle, steer away from the medium pink bottle for shampoo, and stand the plastic bottle up.",
+    "Use the left arm to pick the bottle with white printed label up, avoid the smooth pink plastic shampoo bottle, and place the bottle with white printed label upright.",
+    "Using the left arm, lift the handheld green bottle, keep clear of the hand-sized pink shampoo container, and place the handheld green bottle upright.",
+    "Using the left arm, grasp the medium green bottle with capped neck, move it past the hand-sized pink shampoo container, then stand the medium green bottle with capped neck up.",
+    "Lift the bottle with narrow top, keep its path away from the pink bottle with narrow top, and set the bottle with narrow top upright.",
+    "Pick up the bottle with narrow top, swing wide around the plastic shampoo bottle with black pump, and set the bottle with narrow top upright.",
+    "Grab the bottle with white printed label, avoid the rectangular pink bottle with dispenser while moving, then place the bottle with white printed label upright.",
+    "With the left arm, take the bottle with narrow top, pass outside the plastic shampoo bottle with black pump, and put the bottle with narrow top upright.",
+    "Lift the medium-sized green bottle, guide it around the rectangular pink bottle with dispenser, then stand the medium-sized green bottle upright.",
+    "Use the left arm to lift the smooth green bottle, avoid the hand-sized pink shampoo container en route, and stand the smooth green bottle up.",
+    "Pick the bottle with ridges near base up, keep its path clear of the rectangular pink bottle with dispenser, place the bottle with ridges near base upright.",
+    "Grab the bottle with narrow top, keep it from the smooth pink plastic shampoo bottle, and set the bottle with narrow top upright.",
+    "Lift the plastic bottle, route its path away from the smooth pink plastic shampoo bottle, then set the plastic bottle upright.",
+    "Lift the bottle with white printed label, route it around the rectangular pink bottle with dispenser, then set the bottle with white printed label upright.",
+    "Lift the plastic bottle, keep its path clear of the medium pink bottle for shampoo, then set the plastic bottle upright.",
+    "Guide the left arm to take the medium green bottle, bypass the pink shampoo container with pump top, and place the medium green bottle upright.",
+    "Grip the medium-sized green bottle with the left arm, keep distance from the shampoo bottle with rectangular shape, then set the medium-sized green bottle upright.",
+    "Move the bottle with ridges near base away from the hand-sized pink shampoo container as you lift, then place the bottle with ridges near base upright.",
+    "Use the left arm, raise the medium-sized green bottle, keep distance from the pink shampoo bottle, then place the medium-sized green bottle upright.",
+    "Take the medium green bottle with capped neck, route it away from the rectangular pink shampoo container, and place the medium green bottle with capped neck upright.",
+    "Use the left arm to grab the medium green bottle with capped neck, carry it away from the rectangular pink shampoo container, set the medium green bottle with capped neck upright.",
+    "Pick up the smooth green plastic bottle with the left arm, keep it away from the pink bottle with narrow top, place the smooth green plastic bottle upright.",
+    "With the left arm, lift the smooth green bottle, keep it away from the pink bottle with narrow top, place the smooth green bottle upright.",
+    "Using the left arm, lift the medium green bottle with capped neck, pass clear of the shampoo bottle with shiny pink body, then place the medium green bottle with capped neck upright.",
+    "With the left arm, take the bottle with rounded neck up, steer past the pink shampoo bottle, and place the bottle with rounded neck upright.",
+    "With the left arm, take the plastic bottle, avoid the pink bottle with narrow top while moving, and set the plastic bottle upright.",
+    "Pick up the bottle with white printed label, route it around the pink shampoo bottle, then stand the bottle with white printed label upright.",
+    "Take the smooth green plastic bottle up, skirt the pink shampoo container with pump top, and put the smooth green plastic bottle down upright.",
+    "Direct the left arm to pick the bottle with ridges near base up, avoid the hand-sized pink shampoo container, and stand the bottle with ridges near base upright.",
+    "Have the left arm grasp the plastic bottle, avoid the rectangular pink bottle with dispenser while moving, and set the plastic bottle upright.",
+    "Take the bottle with ridges near base, keep clear of the plastic shampoo bottle with black pump, and place the bottle with ridges near base upright.",
+    "Move the smooth green bottle from its spot, skirt the shampoo bottle with rectangular shape, and stand the smooth green bottle upright.",
+    "Take the green bottle with indented base, move it without nearing the shampoo bottle with rectangular shape, and stand the green bottle with indented base upright.",
+    "Grab the bottle with rounded neck, move it without crossing the medium pink bottle for shampoo, then place the bottle with rounded neck upright.",
+    "With the left arm, pick the bottle with narrow top up, avoid the rectangular pink shampoo container, and put the bottle with narrow top upright.",
+    "Grab the medium-sized green bottle, keep it away from the pink shampoo container with pump top, and put the medium-sized green bottle down upright.",
+    "With the left arm, secure the medium green bottle, pass around the shampoo bottle with shiny pink body, and set the medium green bottle upright.",
+    "Grab the smooth green bottle, steer it around the shampoo bottle with shiny pink body, and place the smooth green bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the pink bottle with narrow top, then stand the smooth green plastic bottle upright.",
+    "Using the left arm, pick the plastic bottle up, keep clear of the medium pink bottle for shampoo, place the plastic bottle upright.",
+    "With the left arm, pick up the handheld green bottle, steer away from the smooth pink plastic shampoo bottle, and stand the handheld green bottle up.",
+    "Use the left arm to pick the bottle with ridges near base up, avoid the pink bottle with narrow top, and place the bottle with ridges near base upright.",
+    "Using the left arm, lift the handheld green bottle, keep clear of the pink bottle with narrow top, and place the handheld green bottle upright.",
+    "Using the left arm, grasp the bottle with ridges near base, move it past the pink bottle with narrow top, then stand the bottle with ridges near base up.",
+    "Lift the green bottle with indented base, keep its path away from the pink shampoo container with pump top, and set the green bottle with indented base upright.",
+    "Pick up the medium green bottle with capped neck, swing wide around the pink bottle with black dispenser, and set the medium green bottle with capped neck upright.",
+    "Grab the bottle with ridges near base, avoid the shampoo bottle with rectangular shape while moving, then place the bottle with ridges near base upright.",
+    "With the left arm, take the medium green bottle, pass outside the pink bottle with narrow top, and put the medium green bottle upright.",
+    "Lift the medium-sized green bottle, guide it around the pink bottle with black dispenser, then stand the medium-sized green bottle upright.",
+    "Use the left arm to lift the bottle with ridges near base, avoid the pink bottle with narrow top en route, and stand the bottle with ridges near base up.",
+    "Pick the bottle with white printed label up, keep its path clear of the hand-sized pink shampoo container, place the bottle with white printed label upright.",
+    "Grab the bottle with ridges near base, keep it from the shampoo bottle with shiny pink body, and set the bottle with ridges near base upright.",
+    "Lift the smooth green plastic bottle, route its path away from the rectangular pink shampoo container, then set the smooth green plastic bottle upright.",
+    "Lift the bottle with ridges near base, route it around the shampoo bottle with rectangular shape, then set the bottle with ridges near base upright.",
+    "Lift the handheld green bottle, keep its path clear of the shampoo bottle with shiny pink body, then set the handheld green bottle upright.",
+    "Guide the left arm to take the bottle with ridges near base, bypass the pink bottle with black dispenser, and place the bottle with ridges near base upright.",
+    "Grip the bottle with narrow top with the left arm, keep distance from the medium pink bottle for shampoo, then set the bottle with narrow top upright.",
+    "Move the medium-sized green bottle away from the shampoo bottle with shiny pink body as you lift, then place the medium-sized green bottle upright.",
+    "Use the left arm, raise the green bottle with indented base, keep distance from the rectangular pink bottle with dispenser, then place the green bottle with indented base upright.",
+    "Take the bottle with rounded neck, route it away from the smooth pink plastic shampoo bottle, and place the bottle with rounded neck upright.",
+    "Use the left arm to grab the bottle with narrow top, carry it away from the pink shampoo container with pump top, set the bottle with narrow top upright.",
+    "Pick up the plastic bottle with the left arm, keep it away from the shampoo bottle with shiny pink body, place the plastic bottle upright.",
+    "With the left arm, lift the plastic bottle, keep it away from the pink shampoo container with pump top, place the plastic bottle upright.",
+    "Using the left arm, lift the medium-sized green bottle, pass clear of the plastic shampoo bottle with black pump, then place the medium-sized green bottle upright.",
+    "With the left arm, take the bottle with rounded neck up, steer past the pink bottle with narrow top, and place the bottle with rounded neck upright.",
+    "With the left arm, take the handheld green bottle, avoid the pink shampoo container with pump top while moving, and set the handheld green bottle upright.",
+    "Pick up the medium green bottle with capped neck, route it around the medium pink bottle for shampoo, then stand the medium green bottle with capped neck upright.",
+    "Take the medium green bottle with capped neck up, skirt the pink shampoo bottle, and put the medium green bottle with capped neck down upright.",
+    "Direct the left arm to pick the plastic bottle up, avoid the medium pink bottle for shampoo, and stand the plastic bottle upright.",
+    "Have the left arm grasp the handheld green bottle, avoid the hand-sized pink shampoo container while moving, and set the handheld green bottle upright.",
+    "Take the medium-sized green bottle, keep clear of the shampoo bottle with shiny pink body, and place the medium-sized green bottle upright.",
+    "Move the bottle with ridges near base from its spot, skirt the rectangular pink shampoo container, and stand the bottle with ridges near base upright.",
+    "Take the handheld green bottle, move it without nearing the plastic shampoo bottle with black pump, and stand the handheld green bottle upright.",
+    "Grab the medium green bottle with capped neck, move it without crossing the pink shampoo container with pump top, then place the medium green bottle with capped neck upright.",
+    "With the left arm, pick the green bottle with indented base up, avoid the hand-sized pink shampoo container, and put the green bottle with indented base upright.",
+    "Grab the bottle with rounded neck, keep it away from the medium pink bottle for shampoo, and put the bottle with rounded neck down upright.",
+    "With the left arm, secure the medium green bottle, pass around the shampoo bottle with shiny pink body, and set the medium green bottle upright.",
+    "Grab the bottle with narrow top, steer it around the pink shampoo container with pump top, and place the bottle with narrow top upright.",
+    "Grab the smooth green bottle, carry it around the pink bottle with black dispenser, then stand the smooth green bottle upright.",
+    "Using the left arm, pick the medium green bottle with capped neck up, keep clear of the medium pink bottle for shampoo, place the medium green bottle with capped neck upright.",
+    "With the left arm, pick up the handheld green bottle, steer away from the smooth pink plastic shampoo bottle, and stand the handheld green bottle up."
+  ],
+  "unseen": [
+    "Grab the green bottle with white label, move it clear of the glossy pink shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with black pump, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with black pump, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the glossy pink shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the plastic pink shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle with black pump, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with black pump, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the glossy pink shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the glossy pink shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the glossy pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the glossy pink shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle with black pump, and place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the plastic pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with black pump, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with black pump, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the plastic pink shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the glossy pink shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with black pump, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the glossy pink shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the glossy pink shampoo bottle, and place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the glossy pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the plastic pink shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with black pump, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the plastic pink shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the glossy pink shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with black pump, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the plastic pink shampoo bottle, then set the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode82.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ebc26361eb3adcdf5955a6bc7be55ee7c9c6e41
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth bottle with red lid, swing wide around the plastic shampoo bottle with smooth surface, and set the smooth bottle with red lid upright.",
+    "Move the medium dark brown bottle from its spot, skirt the white shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the white shampoo bottle with golden top, place the long thin bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the shampoo bottle, then stand the medium dark brown bottle up.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the plastic shampoo bottle with smooth surface, then set the bottle with white neck and red top upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the medium shampoo container, then set the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, keep clear of the rectangular shampoo bottle with rounded top, and place the Coca-Cola bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the medium shampoo container, and place the bottle with white neck and red top upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the bottle for shampoo with glossy finish, and place the dark drink bottle with logo upright.",
+    "Grab the plastic drink bottle, avoid the shampoo bottle with rectangular base while moving, then place the plastic drink bottle upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the shampoo bottle with rectangular base, place the medium dark brown bottle upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the white shampoo bottle, place the hand-sized soda bottle upright.",
+    "Use the left arm to lift the brown bottle with red label, avoid the shampoo bottle with rectangular base en route, and stand the brown bottle with red label up.",
+    "Grab the narrow-necked bottle, move it without crossing the white shampoo bottle, then place the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the hand-held shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the rectangular shampoo bottle with rounded top, then place the brown bottle with red label upright.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the shampoo bottle with rectangular base, and stand the smooth bottle with red lid up.",
+    "Take the narrow-necked bottle up, skirt the white shampoo bottle with golden top, and put the narrow-necked bottle down upright.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the white shampoo bottle while moving, and set the medium dark brown bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the medium shampoo container, and place the medium dark brown bottle upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the rectangular shampoo bottle with rounded top, then place the bottle with ridges on bottom upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the hand-held shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Guide the left arm to take the red-capped bottle, bypass the bottle with yellow cap, and place the red-capped bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the plastic shampoo bottle with smooth surface, then stand the smooth bottle with red lid upright.",
+    "Lift the hand-sized soda bottle, route its path away from the shampoo bottle with rectangular base, then set the hand-sized soda bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the bottle for shampoo with glossy finish, and put the Coca-Cola bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the medium shampoo container, and set the bottle with white neck and red top upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the white shampoo bottle with golden top, and put the bottle with white neck and red top upright.",
+    "Take the red-capped bottle, route it away from the bottle for shampoo with glossy finish, and place the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the plastic shampoo bottle with smooth surface, then stand the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the hand-held shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Move the smooth bottle with red lid away from the rectangular shampoo bottle with rounded top as you lift, then place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the long thin bottle, carry it away from the bottle for shampoo with glossy finish, set the long thin bottle upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the bottle for shampoo with glossy finish, and stand the medium dark brown bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it from the white shampoo bottle with golden top, and set the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, route it around the rectangular shampoo bottle with rounded top, then set the bottle with ridges on bottom upright.",
+    "Take the red-capped bottle, move it without nearing the shampoo bottle, and stand the red-capped bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the hand-held shampoo bottle, and set the medium dark brown bottle upright.",
+    "Using the left arm, pick the narrow-necked bottle up, keep clear of the shampoo bottle, place the narrow-necked bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, avoid the white bottle with golden accents while moving, and set the bottle with white neck and red top upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Move the medium dark brown bottle from its spot, skirt the plastic shampoo bottle with smooth surface, and stand the medium dark brown bottle upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the medium shampoo container, place the brown bottle with red label upright.",
+    "Using the left arm, grasp the Coca-Cola bottle, move it past the hand-held shampoo bottle, then stand the Coca-Cola bottle up.",
+    "Grip the long thin bottle with the left arm, keep distance from the white shampoo bottle, then set the long thin bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the bottle with yellow cap, then set the bottle with ridges on bottom upright.",
+    "Take the smooth bottle with red lid, keep clear of the smooth shampoo container, and place the smooth bottle with red lid upright.",
+    "Grab the brown bottle with red label, steer it around the shampoo bottle with rectangular base, and place the brown bottle with red label upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the shampoo bottle with rectangular base, and place the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, avoid the hand-held shampoo bottle while moving, then place the hand-sized soda bottle upright.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the bottle with yellow cap, place the narrow-necked bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the plastic shampoo bottle with smooth surface, place the plastic drink bottle upright.",
+    "Use the left arm to lift the plastic drink bottle, avoid the hand-held shampoo bottle en route, and stand the plastic drink bottle up.",
+    "Grab the bottle with white neck and red top, move it without crossing the hand-held shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Grab the plastic drink bottle, keep it away from the white bottle with golden accents, and put the plastic drink bottle down upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the medium shampoo container, then place the narrow-necked bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the bottle for shampoo with glossy finish, and stand the dark drink bottle with logo up.",
+    "Take the medium dark brown bottle up, skirt the white shampoo bottle with golden top, and put the medium dark brown bottle down upright.",
+    "Have the left arm grasp the red-capped bottle, avoid the shampoo bottle with rectangular base while moving, and set the red-capped bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the bottle for shampoo with glossy finish, and place the bottle with ridges on bottom upright.",
+    "Use the left arm, raise the dark drink bottle with logo, keep distance from the plastic shampoo bottle with smooth surface, then place the dark drink bottle with logo upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the white shampoo bottle with golden top, and place the hand-sized soda bottle upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the smooth shampoo container, and place the dark drink bottle with logo upright.",
+    "Pick up the bottle with white neck and red top, route it around the bottle with yellow cap, then stand the bottle with white neck and red top upright.",
+    "Lift the Coca-Cola bottle, route its path away from the shampoo bottle with rectangular base, then set the Coca-Cola bottle upright.",
+    "With the left arm, take the red-capped bottle, pass outside the white shampoo bottle with golden top, and put the red-capped bottle upright.",
+    "Lift the medium dark brown bottle, keep its path away from the white bottle with golden accents, and set the medium dark brown bottle upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the bottle with yellow cap, and put the brown bottle with red label upright.",
+    "Take the bottle with white neck and red top, route it away from the white shampoo bottle with golden top, and place the bottle with white neck and red top upright.",
+    "Lift the long thin bottle, guide it around the medium shampoo container, then stand the long thin bottle upright.",
+    "Grab the long thin bottle, carry it around the rectangular shampoo bottle with rounded top, then stand the long thin bottle upright.",
+    "Move the red-capped bottle away from the smooth shampoo container as you lift, then place the red-capped bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the shampoo bottle with rectangular base, set the brown bottle with red label upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the bottle for shampoo with glossy finish, and stand the red-capped bottle upright.",
+    "Grab the long thin bottle, keep it from the white shampoo bottle with golden top, and set the long thin bottle upright.",
+    "Lift the Coca-Cola bottle, route it around the white shampoo bottle with golden top, then set the Coca-Cola bottle upright.",
+    "Take the bottle with white neck and red top, move it without nearing the hand-held shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "With the left arm, secure the brown bottle with red label, pass around the shampoo bottle with rectangular base, and set the brown bottle with red label upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the rectangular shampoo bottle with rounded top, place the brown bottle with red label upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the plastic shampoo bottle with smooth surface while moving, and set the narrow-necked bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the white bottle with golden accents, and set the narrow-necked bottle upright.",
+    "Move the medium dark brown bottle from its spot, skirt the white shampoo bottle with golden top, and stand the medium dark brown bottle upright.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the plastic shampoo bottle with smooth surface, place the dark drink bottle with logo upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the white shampoo bottle with golden top, then stand the dark drink bottle with logo up.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the rectangular shampoo bottle with rounded top, then set the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, keep its path clear of the shampoo bottle with rectangular base, then set the long thin bottle upright.",
+    "Take the long thin bottle, keep clear of the white bottle with golden accents, and place the long thin bottle upright.",
+    "Grab the plastic drink bottle, steer it around the rectangular shampoo bottle with rounded top, and place the plastic drink bottle upright.",
+    "Use the left arm to pick the bottle with ridges on bottom up, avoid the medium shampoo container, and place the bottle with ridges on bottom upright.",
+    "Grab the bottle with ridges on bottom, avoid the shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the rectangular shampoo bottle with rounded top, place the hand-sized soda bottle upright.",
+    "Pick the bottle with ridges on bottom up, keep its path clear of the bottle with yellow cap, place the bottle with ridges on bottom upright.",
+    "Use the left arm to lift the medium dark brown bottle, avoid the hand-held shampoo bottle en route, and stand the medium dark brown bottle up.",
+    "Grab the red-capped bottle, move it without crossing the plastic shampoo bottle with smooth surface, then place the red-capped bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the bottle with yellow cap, and put the narrow-necked bottle down upright.",
+    "Using the left arm, lift the hand-sized soda bottle, pass clear of the white bottle with golden accents, then place the hand-sized soda bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the plastic shampoo bottle with smooth surface, and stand the red-capped bottle up.",
+    "Take the narrow-necked bottle up, skirt the shampoo bottle with rectangular base, and put the narrow-necked bottle down upright.",
+    "Have the left arm grasp the bottle with ridges on bottom, avoid the bottle with yellow cap while moving, and set the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the rectangular shampoo bottle with rounded top, and place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the medium-sized shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white plastic shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the medium-sized shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the medium-sized shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the white plastic shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with rounded yellow cap, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the white plastic shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the medium-sized shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the medium-sized shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white plastic shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the medium-sized shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white plastic shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with rounded yellow cap, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the medium-sized shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle with rounded yellow cap, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the medium-sized shampoo bottle, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with rounded yellow cap, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white plastic shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the medium-sized shampoo bottle, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the medium-sized shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white plastic shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the medium-sized shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the medium-sized shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with rounded yellow cap, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with rounded yellow cap, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the white plastic shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the white plastic shampoo bottle, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white plastic shampoo bottle, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode83.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..a49d798d269e15b4743a4b1e34217b7c8a68568c
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the brown bottle with red label, route it around the light blue shampoo bottle small size, then stand the brown bottle with red label upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the small smooth shampoo bottle, and put the medium dark brown bottle upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the bottle of shampoo, and set the bottle with white neck and red top upright.",
+    "Using the left arm, lift the medium dark brown bottle, keep clear of the blue shampoo bottle slender design, and place the medium dark brown bottle upright.",
+    "With the left arm, take the Coca-Cola bottle up, steer past the shampoo bottle with matte plastic, and place the Coca-Cola bottle upright.",
+    "Grab the dark drink bottle with logo, carry it around the blue shampoo bottle slender design, then stand the dark drink bottle with logo upright.",
+    "Grab the bottle with white neck and red top, avoid the small smooth shampoo bottle while moving, then place the bottle with white neck and red top upright.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the bottle of shampoo, place the dark drink bottle with logo upright.",
+    "Move the hand-sized soda bottle away from the bottle of shampoo as you lift, then place the hand-sized soda bottle upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the bottle of shampoo, then place the Coca-Cola bottle upright.",
+    "Pick up the red-capped bottle, swing wide around the blue shampoo bottle slender design, and set the red-capped bottle upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the blue shampoo bottle slender design, then set the smooth bottle with red lid upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the hand-sized shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Grab the medium dark brown bottle, keep it away from the shampoo bottle flat bottom edge, and put the medium dark brown bottle down upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the hand-sized shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Have the left arm grasp the Coca-Cola bottle, avoid the shampoo bottle tapered toward cap while moving, and set the Coca-Cola bottle upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the curved light blue shampoo bottle, place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the Coca-Cola bottle, pass clear of the bottle of shampoo, then place the Coca-Cola bottle upright.",
+    "Grab the hand-sized soda bottle, steer it around the blue shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the light blue shampoo bottle small size, place the plastic drink bottle upright.",
+    "With the left arm, pick up the brown bottle with red label, steer away from the light blue shampoo bottle small size, and stand the brown bottle with red label up.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the shampoo bottle with white cap, set the narrow-necked bottle upright.",
+    "Grab the long thin bottle, move it without crossing the bottle of shampoo, then place the long thin bottle upright.",
+    "Take the Coca-Cola bottle, move it without nearing the shampoo bottle with matte plastic, and stand the Coca-Cola bottle upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the small smooth shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Take the bottle with white neck and red top, route it away from the blue shampoo bottle, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the plastic drink bottle, avoid the bottle of shampoo while moving, and set the plastic drink bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the shampoo bottle tapered toward cap, then set the red-capped bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the small smooth shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "Grab the brown bottle with red label, keep it from the small smooth shampoo bottle, and set the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, route its path away from the bottle light blue rounded shape, then set the medium dark brown bottle upright.",
+    "Lift the dark drink bottle with logo, route it around the blue shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Using the left arm, grasp the narrow-necked bottle, move it past the light blue shampoo bottle small size, then stand the narrow-necked bottle up.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the shampoo bottle with matte plastic en route, and stand the bottle with ridges on bottom up.",
+    "Lift the long thin bottle, guide it around the shampoo bottle with white cap, then stand the long thin bottle upright.",
+    "Take the Coca-Cola bottle, keep clear of the blue shampoo bottle slender design, and place the Coca-Cola bottle upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the bottle light blue rounded shape, and stand the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the shampoo bottle tapered toward cap, and stand the brown bottle with red label upright.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the shampoo bottle with white cap, place the narrow-necked bottle upright.",
+    "Guide the left arm to take the brown bottle with red label, bypass the light blue shampoo bottle small size, and place the brown bottle with red label upright.",
+    "Pick up the smooth bottle with red lid, route it around the small smooth shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "With the left arm, pick the bottle with ridges on bottom up, avoid the light blue shampoo bottle small size, and put the bottle with ridges on bottom upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the curved light blue shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the shampoo bottle flat bottom edge, and place the red-capped bottle upright.",
+    "With the left arm, take the brown bottle with red label up, steer past the shampoo bottle flat bottom edge, and place the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, carry it around the curved light blue shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the blue shampoo bottle slender design while moving, then place the bottle with ridges on bottom upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the light blue shampoo bottle small size, place the long thin bottle upright.",
+    "Move the narrow-necked bottle away from the blue shampoo bottle slender design as you lift, then place the narrow-necked bottle upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the blue shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the hand-sized shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the blue shampoo bottle, then set the plastic drink bottle upright.",
+    "With the left arm, take the red-capped bottle, pass outside the shampoo bottle tapered toward cap, and put the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle tapered toward cap, and put the dark drink bottle with logo down upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the curved light blue shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the shampoo bottle with white cap while moving, and set the dark drink bottle with logo upright.",
+    "Using the left arm, pick the plastic drink bottle up, keep clear of the blue shampoo bottle slender design, place the plastic drink bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the curved light blue shampoo bottle, then place the medium dark brown bottle upright.",
+    "Grab the long thin bottle, steer it around the curved light blue shampoo bottle, and place the long thin bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the shampoo bottle with matte plastic, place the long thin bottle upright.",
+    "With the left arm, pick up the smooth bottle with red lid, steer away from the light blue shampoo bottle small size, and stand the smooth bottle with red lid up.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the bottle of shampoo, set the smooth bottle with red lid upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the shampoo bottle with white cap, then place the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle, move it without nearing the small smooth shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the bottle of shampoo, and place the smooth bottle with red lid upright.",
+    "Take the bottle with ridges on bottom, route it away from the shampoo bottle flat bottom edge, and place the bottle with ridges on bottom upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the shampoo bottle tapered toward cap while moving, and set the hand-sized soda bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path clear of the shampoo bottle tapered toward cap, then set the hand-sized soda bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the shampoo bottle with white cap, and put the bottle with ridges on bottom down upright.",
+    "Grab the medium dark brown bottle, keep it from the bottle of shampoo, and set the medium dark brown bottle upright.",
+    "Lift the Coca-Cola bottle, route its path away from the light blue shampoo bottle small size, then set the Coca-Cola bottle upright.",
+    "Lift the red-capped bottle, route it around the shampoo bottle flat bottom edge, then set the red-capped bottle upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the bottle of shampoo, then stand the dark drink bottle with logo up.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the curved light blue shampoo bottle en route, and stand the bottle with ridges on bottom up.",
+    "Lift the smooth bottle with red lid, guide it around the blue shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Take the long thin bottle, keep clear of the bottle light blue rounded shape, and place the long thin bottle upright.",
+    "Move the smooth bottle with red lid from its spot, skirt the bottle of shampoo, and stand the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the bottle of shampoo, and stand the red-capped bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the shampoo bottle with matte plastic, place the bottle with white neck and red top upright.",
+    "Guide the left arm to take the hand-sized soda bottle, bypass the shampoo bottle tapered toward cap, and place the hand-sized soda bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo bottle with matte plastic, then stand the dark drink bottle with logo upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the hand-sized shampoo bottle, and put the bottle with white neck and red top upright.",
+    "With the left arm, secure the hand-sized soda bottle, pass around the shampoo bottle with matte plastic, and set the hand-sized soda bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the small smooth shampoo bottle, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the curved light blue shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the long thin bottle, carry it around the shampoo bottle tapered toward cap, then stand the long thin bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the shampoo bottle with white cap while moving, then place the smooth bottle with red lid upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the small smooth shampoo bottle, place the long thin bottle upright.",
+    "Move the dark drink bottle with logo away from the blue shampoo bottle as you lift, then place the dark drink bottle with logo upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the bottle light blue rounded shape, then place the long thin bottle upright.",
+    "Pick up the plastic drink bottle, swing wide around the blue shampoo bottle slender design, and set the plastic drink bottle upright.",
+    "Grip the Coca-Cola bottle with the left arm, keep distance from the shampoo bottle with white cap, then set the Coca-Cola bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the curved light blue shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, keep it away from the shampoo bottle flat bottom edge, and put the red-capped bottle down upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the shampoo bottle tapered toward cap, and set the hand-sized soda bottle upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the blue shampoo bottle slender design while moving, and set the hand-sized soda bottle upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the hand-sized shampoo bottle, place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the dark drink bottle with logo, pass clear of the blue shampoo bottle slender design, then place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, steer it around the curved light blue shampoo bottle, and place the brown bottle with red label upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the curved light blue shampoo bottle, place the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode84.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c1a5f2b5d6810dfa01edd2189306301c3fd7d17
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium dark brown bottle, keep it away from the hand-sized yellow shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo bottle with handle slot, and place the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the yellow shampoo with cartoon design, and place the narrow-necked bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the shampoo bottle with rounded body, and set the bottle with white neck and red top upright.",
+    "Grab the brown bottle with red label, steer it around the bottle with cartoon label, and place the brown bottle with red label upright.",
+    "Move the red-capped bottle from its spot, skirt the bottle with cartoon label, and stand the red-capped bottle upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the yellow shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Move the plastic drink bottle away from the shampoo bottle with rounded body as you lift, then place the plastic drink bottle upright.",
+    "With the left arm, secure the bottle with ridges on bottom, pass around the yellow shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the yellow shampoo bottle, and stand the bottle with white neck and red top upright.",
+    "Pick up the plastic drink bottle, route it around the hand-sized yellow shampoo bottle, then stand the plastic drink bottle upright.",
+    "Pick up the long thin bottle, swing wide around the bottle with cartoon label, and set the long thin bottle upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the yellow bottle with green top, set the plastic drink bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the yellow container with green pump, and put the plastic drink bottle upright.",
+    "Lift the brown bottle with red label, keep its path clear of the yellow bottle with green top, then set the brown bottle with red label upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the yellow shampoo with cartoon design, and place the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, keep it from the yellow shampoo with cartoon design, and set the medium dark brown bottle upright.",
+    "Grab the long thin bottle, move it without crossing the yellow bottle with green top, then place the long thin bottle upright.",
+    "With the left arm, lift the plastic drink bottle, keep it away from the bottle with cartoon label, place the plastic drink bottle upright.",
+    "Take the smooth bottle with red lid, route it away from the yellow bottle with green top, and place the smooth bottle with red lid upright.",
+    "With the left arm, take the bottle with white neck and red top, avoid the plastic shampoo bottle with label while moving, and set the bottle with white neck and red top upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the yellow shampoo with cartoon design, and put the bottle with white neck and red top upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the plastic shampoo bottle with label, and stand the hand-sized soda bottle up.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the medium shampoo bottle with pump, then stand the hand-sized soda bottle up.",
+    "Grab the hand-sized soda bottle, carry it around the shampoo bottle with rounded body, then stand the hand-sized soda bottle upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the shampoo with green dispensing pump, then place the hand-sized soda bottle upright.",
+    "Lift the smooth bottle with red lid, route its path away from the yellow shampoo with cartoon design, then set the smooth bottle with red lid upright.",
+    "Take the medium dark brown bottle up, skirt the smooth bottle with green top, and put the medium dark brown bottle down upright.",
+    "Have the left arm grasp the bottle with ridges on bottom, avoid the medium shampoo bottle with pump while moving, and set the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, guide it around the shampoo bottle with handle slot, then stand the long thin bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the medium shampoo bottle with pump en route, and stand the hand-sized soda bottle up.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the shampoo bottle with rounded body, and place the medium dark brown bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the shampoo with green dispensing pump, place the red-capped bottle upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the shampoo bottle with rounded body, and stand the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the shampoo bottle with rounded body, place the medium dark brown bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the hand-sized yellow shampoo bottle while moving, then place the dark drink bottle with logo upright.",
+    "Pick the long thin bottle up, keep its path clear of the hand-sized yellow shampoo bottle, place the long thin bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the medium shampoo bottle with pump, then place the narrow-necked bottle upright.",
+    "Lift the bottle with ridges on bottom, route it around the shampoo with green dispensing pump, then set the bottle with ridges on bottom upright.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the medium shampoo bottle with pump, then set the narrow-necked bottle upright.",
+    "Grab the hand-sized soda bottle, keep it away from the yellow container with green pump, and put the hand-sized soda bottle down upright.",
+    "Take the hand-sized soda bottle, keep clear of the smooth bottle with green top, and place the hand-sized soda bottle upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the shampoo bottle with rounded body, and place the long thin bottle upright.",
+    "Lift the long thin bottle, keep its path away from the bottle with cartoon label, and set the long thin bottle upright.",
+    "Grab the brown bottle with red label, steer it around the shampoo with green dispensing pump, and place the brown bottle with red label upright.",
+    "Move the red-capped bottle from its spot, skirt the smooth bottle with green top, and stand the red-capped bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the hand-sized yellow shampoo bottle, and place the red-capped bottle upright.",
+    "Move the brown bottle with red label away from the yellow bottle with green top as you lift, then place the brown bottle with red label upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the yellow shampoo with cartoon design, and set the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the plastic drink bottle up, avoid the yellow bottle with green top, and stand the plastic drink bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the yellow shampoo bottle, then stand the smooth bottle with red lid upright.",
+    "Pick up the long thin bottle, swing wide around the plastic shampoo bottle with label, and set the long thin bottle upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the yellow shampoo bottle, set the bottle with white neck and red top upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the medium shampoo bottle with pump, and put the bottle with ridges on bottom upright.",
+    "Lift the plastic drink bottle, keep its path clear of the yellow shampoo bottle, then set the plastic drink bottle upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the bottle with cartoon label, and place the smooth bottle with red lid upright.",
+    "Grab the medium dark brown bottle, keep it from the shampoo bottle with rounded body, and set the medium dark brown bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the shampoo with green dispensing pump, then place the Coca-Cola bottle upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the yellow bottle with green top, place the medium dark brown bottle upright.",
+    "Take the Coca-Cola bottle, route it away from the yellow container with green pump, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the red-capped bottle, avoid the bottle with cartoon label while moving, and set the red-capped bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the yellow bottle with green top, and put the long thin bottle upright.",
+    "With the left arm, pick up the bottle with ridges on bottom, steer away from the plastic shampoo bottle with label, and stand the bottle with ridges on bottom up.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the shampoo bottle with handle slot, then stand the brown bottle with red label up.",
+    "Grab the bottle with white neck and red top, carry it around the yellow shampoo with cartoon design, then stand the bottle with white neck and red top upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the yellow container with green pump, then place the hand-sized soda bottle upright.",
+    "Lift the plastic drink bottle, route its path away from the yellow bottle with green top, then set the plastic drink bottle upright.",
+    "Take the medium dark brown bottle up, skirt the shampoo bottle with rounded body, and put the medium dark brown bottle down upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the yellow shampoo with cartoon design while moving, and set the smooth bottle with red lid upright.",
+    "Lift the narrow-necked bottle, guide it around the yellow shampoo with cartoon design, then stand the narrow-necked bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the yellow shampoo with cartoon design en route, and stand the hand-sized soda bottle up.",
+    "Guide the left arm to take the hand-sized soda bottle, bypass the hand-sized yellow shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the plastic shampoo bottle with label, place the long thin bottle upright.",
+    "Take the Coca-Cola bottle, move it without nearing the yellow shampoo with cartoon design, and stand the Coca-Cola bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the shampoo with green dispensing pump, place the brown bottle with red label upright.",
+    "Grab the Coca-Cola bottle, avoid the shampoo bottle with rounded body while moving, then place the Coca-Cola bottle upright.",
+    "Pick the narrow-necked bottle up, keep its path clear of the shampoo bottle with rounded body, place the narrow-necked bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, pass clear of the medium shampoo bottle with pump, then place the plastic drink bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the smooth bottle with green top, then set the hand-sized soda bottle upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the shampoo bottle with handle slot, then set the hand-sized soda bottle upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the yellow container with green pump, and put the bottle with ridges on bottom down upright.",
+    "Take the bottle with white neck and red top, keep clear of the smooth bottle with green top, and place the bottle with white neck and red top upright.",
+    "Use the left arm to pick the smooth bottle with red lid up, avoid the yellow container with green pump, and place the smooth bottle with red lid upright.",
+    "Lift the red-capped bottle, keep its path away from the yellow shampoo bottle, and set the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, steer it around the hand-sized yellow shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Move the red-capped bottle from its spot, skirt the plastic shampoo bottle with label, and stand the red-capped bottle upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the bottle with cartoon label, and place the smooth bottle with red lid upright.",
+    "Move the brown bottle with red label away from the yellow bottle with green top as you lift, then place the brown bottle with red label upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the shampoo with green dispensing pump, and set the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the hand-sized soda bottle up, avoid the plastic shampoo bottle with label, and stand the hand-sized soda bottle upright.",
+    "Pick up the Coca-Cola bottle, route it around the smooth bottle with green top, then stand the Coca-Cola bottle upright.",
+    "Pick up the narrow-necked bottle, swing wide around the yellow bottle with green top, and set the narrow-necked bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the shampoo with green dispensing pump, set the brown bottle with red label upright.",
+    "With the left arm, take the hand-sized soda bottle, pass outside the yellow container with green pump, and put the hand-sized soda bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the shampoo with green dispensing pump, then set the narrow-necked bottle upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the yellow shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Grab the Coca-Cola bottle, keep it from the shampoo bottle with rounded body, and set the Coca-Cola bottle upright.",
+    "Grab the long thin bottle, move it without crossing the yellow bottle with green top, then place the long thin bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the hand-sized yellow shampoo bottle, place the bottle with white neck and red top upright.",
+    "Take the dark drink bottle with logo, route it away from the shampoo with green dispensing pump, and place the dark drink bottle with logo upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow shampoo with pump dispenser, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow shampoo with pump dispenser, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the yellow shampoo with pump dispenser, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow shampoo with pump dispenser, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow shampoo with pump dispenser, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the yellow shampoo with pump dispenser, and set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth plastic shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the yellow bottle with rounded edges, and place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth plastic shampoo container, and set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the yellow bottle with rounded edges, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth plastic shampoo container, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth plastic shampoo container, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the yellow shampoo with pump dispenser, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth plastic shampoo container, and place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the yellow shampoo with pump dispenser, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the yellow bottle with rounded edges, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth plastic shampoo container, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the yellow shampoo with pump dispenser, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the yellow bottle with rounded edges, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the yellow bottle with rounded edges, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the yellow bottle with rounded edges, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the yellow bottle with rounded edges, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the yellow bottle with rounded edges, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth plastic shampoo container, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth plastic shampoo container, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the yellow bottle with rounded edges, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth plastic shampoo container, and place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode85.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..9277ffa1e9396cd51e7141a44a9dc1fc37f035c6
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the plastic bottle with the right arm, keep distance from the bottle for shampoo with glossy finish, then set the plastic bottle upright.",
+    "With the right arm, take the handheld green bottle up, steer past the bottle with yellow cap, and place the handheld green bottle upright.",
+    "Use the right arm, raise the medium green bottle with capped neck, keep distance from the smooth shampoo container, then place the medium green bottle with capped neck upright.",
+    "Use the right arm to pick the bottle with narrow top up, avoid the smooth shampoo container, and place the bottle with narrow top upright.",
+    "With the right arm, secure the bottle with ridges near base, pass around the white shampoo bottle with golden top, and set the bottle with ridges near base upright.",
+    "Take the handheld green bottle, move it without nearing the white bottle with golden accents, and stand the handheld green bottle upright.",
+    "Lift the bottle with rounded neck, keep its path away from the rectangular shampoo bottle with rounded top, and set the bottle with rounded neck upright.",
+    "Using the right arm, grasp the green bottle with indented base, move it past the shampoo bottle with rectangular base, then stand the green bottle with indented base up.",
+    "Grab the smooth green bottle, keep it from the shampoo bottle with rectangular base, and set the smooth green bottle upright.",
+    "Pick the green bottle with indented base up, keep its path clear of the white shampoo bottle, place the green bottle with indented base upright.",
+    "Grab the smooth green bottle, steer it around the hand-held shampoo bottle, and place the smooth green bottle upright.",
+    "Using the right arm, pick the bottle with narrow top up, keep clear of the plastic shampoo bottle with smooth surface, place the bottle with narrow top upright.",
+    "Take the medium green bottle with capped neck, route it away from the smooth shampoo container, and place the medium green bottle with capped neck upright.",
+    "Using the right arm, lift the medium green bottle, keep clear of the rectangular shampoo bottle with rounded top, and place the medium green bottle upright.",
+    "With the right arm, pick up the bottle with narrow top, steer away from the shampoo bottle, and stand the bottle with narrow top up.",
+    "With the right arm, lift the smooth green bottle, keep it away from the bottle for shampoo with glossy finish, place the smooth green bottle upright.",
+    "With the right arm, take the smooth green plastic bottle, avoid the shampoo bottle with rectangular base while moving, and set the smooth green plastic bottle upright.",
+    "Grab the medium-sized green bottle, carry it around the rectangular shampoo bottle with rounded top, then stand the medium-sized green bottle upright.",
+    "Lift the bottle with ridges near base, route it around the bottle with yellow cap, then set the bottle with ridges near base upright.",
+    "Lift the bottle with white printed label, guide it around the shampoo bottle, then stand the bottle with white printed label upright.",
+    "Using the right arm, lift the bottle with narrow top, pass clear of the white shampoo bottle with golden top, then place the bottle with narrow top upright.",
+    "Use the right arm to lift the smooth green plastic bottle, avoid the white shampoo bottle with golden top en route, and stand the smooth green plastic bottle up.",
+    "Move the bottle with rounded neck away from the plastic shampoo bottle with smooth surface as you lift, then place the bottle with rounded neck upright.",
+    "With the right arm, take the medium green bottle with capped neck, pass outside the shampoo bottle with rectangular base, and put the medium green bottle with capped neck upright.",
+    "Guide the right arm to take the plastic bottle, bypass the white shampoo bottle, and place the plastic bottle upright.",
+    "Pick up the medium green bottle, swing wide around the white shampoo bottle, and set the medium green bottle upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the white bottle with golden accents, and stand the smooth green plastic bottle upright.",
+    "Grab the medium-sized green bottle, move it without crossing the shampoo bottle with rectangular base, then place the medium-sized green bottle upright.",
+    "Take the green bottle with indented base, keep clear of the shampoo bottle, and place the green bottle with indented base upright.",
+    "Lift the medium green bottle with capped neck, keep its path clear of the hand-held shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "With the right arm, pick the bottle with narrow top up, avoid the smooth shampoo container, and put the bottle with narrow top upright.",
+    "Have the right arm grasp the handheld green bottle, avoid the bottle for shampoo with glossy finish while moving, and set the handheld green bottle upright.",
+    "Grab the medium green bottle with capped neck, avoid the medium shampoo container while moving, then place the medium green bottle with capped neck upright.",
+    "Pick up the bottle with ridges near base with the right arm, keep it away from the white shampoo bottle with golden top, place the bottle with ridges near base upright.",
+    "Grab the bottle with white printed label, keep it away from the white shampoo bottle, and put the bottle with white printed label down upright.",
+    "Lift the green bottle with indented base, route its path away from the bottle with yellow cap, then set the green bottle with indented base upright.",
+    "Direct the right arm to pick the smooth green plastic bottle up, avoid the shampoo bottle with rectangular base, and stand the smooth green plastic bottle upright.",
+    "Use the right arm to grab the bottle with narrow top, carry it away from the hand-held shampoo bottle, set the bottle with narrow top upright.",
+    "Take the bottle with rounded neck up, skirt the bottle for shampoo with glossy finish, and put the bottle with rounded neck down upright.",
+    "Pick up the medium green bottle, route it around the white shampoo bottle with golden top, then stand the medium green bottle upright.",
+    "Grip the bottle with white printed label with the right arm, keep distance from the rectangular shampoo bottle with rounded top, then set the bottle with white printed label upright.",
+    "With the right arm, take the medium green bottle with capped neck up, steer past the plastic shampoo bottle with smooth surface, and place the medium green bottle with capped neck upright.",
+    "Use the right arm, raise the smooth green bottle, keep distance from the plastic shampoo bottle with smooth surface, then place the smooth green bottle upright.",
+    "Use the right arm to pick the plastic bottle up, avoid the medium shampoo container, and place the plastic bottle upright.",
+    "With the right arm, secure the smooth green bottle, pass around the rectangular shampoo bottle with rounded top, and set the smooth green bottle upright.",
+    "Take the handheld green bottle, move it without nearing the white shampoo bottle with golden top, and stand the handheld green bottle upright.",
+    "Lift the smooth green bottle, keep its path away from the white bottle with golden accents, and set the smooth green bottle upright.",
+    "Using the right arm, grasp the bottle with narrow top, move it past the white shampoo bottle, then stand the bottle with narrow top up.",
+    "Grab the bottle with rounded neck, keep it from the shampoo bottle with rectangular base, and set the bottle with rounded neck upright.",
+    "Pick the smooth green bottle up, keep its path clear of the white shampoo bottle with golden top, place the smooth green bottle upright.",
+    "Grab the plastic bottle, steer it around the bottle for shampoo with glossy finish, and place the plastic bottle upright.",
+    "Using the right arm, pick the medium-sized green bottle up, keep clear of the bottle with yellow cap, place the medium-sized green bottle upright.",
+    "Take the handheld green bottle, route it away from the bottle for shampoo with glossy finish, and place the handheld green bottle upright.",
+    "Using the right arm, lift the bottle with narrow top, keep clear of the white shampoo bottle, and place the bottle with narrow top upright.",
+    "With the right arm, pick up the bottle with white printed label, steer away from the smooth shampoo container, and stand the bottle with white printed label up.",
+    "With the right arm, lift the bottle with narrow top, keep it away from the smooth shampoo container, place the bottle with narrow top upright.",
+    "With the right arm, take the bottle with rounded neck, avoid the smooth shampoo container while moving, and set the bottle with rounded neck upright.",
+    "Grab the bottle with ridges near base, carry it around the rectangular shampoo bottle with rounded top, then stand the bottle with ridges near base upright.",
+    "Lift the medium green bottle with capped neck, route it around the hand-held shampoo bottle, then set the medium green bottle with capped neck upright.",
+    "Lift the bottle with rounded neck, guide it around the hand-held shampoo bottle, then stand the bottle with rounded neck upright.",
+    "Using the right arm, lift the handheld green bottle, pass clear of the medium shampoo container, then place the handheld green bottle upright.",
+    "Use the right arm to lift the handheld green bottle, avoid the bottle with yellow cap en route, and stand the handheld green bottle up.",
+    "Move the smooth green bottle away from the shampoo bottle as you lift, then place the smooth green bottle upright.",
+    "With the right arm, take the medium green bottle with capped neck, pass outside the shampoo bottle, and put the medium green bottle with capped neck upright.",
+    "Guide the right arm to take the bottle with white printed label, bypass the white bottle with golden accents, and place the bottle with white printed label upright.",
+    "Pick up the medium-sized green bottle, swing wide around the plastic shampoo bottle with smooth surface, and set the medium-sized green bottle upright.",
+    "Move the bottle with narrow top from its spot, skirt the bottle with yellow cap, and stand the bottle with narrow top upright.",
+    "Grab the handheld green bottle, move it without crossing the white shampoo bottle with golden top, then place the handheld green bottle upright.",
+    "Take the medium-sized green bottle, keep clear of the shampoo bottle with rectangular base, and place the medium-sized green bottle upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the rectangular shampoo bottle with rounded top, then set the bottle with ridges near base upright.",
+    "With the right arm, pick the plastic bottle up, avoid the medium shampoo container, and put the plastic bottle upright.",
+    "Have the right arm grasp the plastic bottle, avoid the white shampoo bottle while moving, and set the plastic bottle upright.",
+    "Grab the bottle with ridges near base, avoid the plastic shampoo bottle with smooth surface while moving, then place the bottle with ridges near base upright.",
+    "Pick up the smooth green plastic bottle with the right arm, keep it away from the plastic shampoo bottle with smooth surface, place the smooth green plastic bottle upright.",
+    "Grab the bottle with ridges near base, keep it away from the hand-held shampoo bottle, and put the bottle with ridges near base down upright.",
+    "Lift the smooth green bottle, route its path away from the shampoo bottle, then set the smooth green bottle upright.",
+    "Direct the right arm to pick the medium green bottle with capped neck up, avoid the plastic shampoo bottle with smooth surface, and stand the medium green bottle with capped neck upright.",
+    "Use the right arm to grab the medium green bottle with capped neck, carry it away from the bottle with yellow cap, set the medium green bottle with capped neck upright.",
+    "Take the handheld green bottle up, skirt the white shampoo bottle with golden top, and put the handheld green bottle down upright.",
+    "Pick up the plastic bottle, route it around the smooth shampoo container, then stand the plastic bottle upright.",
+    "Grip the bottle with white printed label with the right arm, keep distance from the plastic shampoo bottle with smooth surface, then set the bottle with white printed label upright.",
+    "With the right arm, take the handheld green bottle up, steer past the hand-held shampoo bottle, and place the handheld green bottle upright.",
+    "Use the right arm, raise the bottle with white printed label, keep distance from the medium shampoo container, then place the bottle with white printed label upright.",
+    "Use the right arm to pick the bottle with narrow top up, avoid the shampoo bottle, and place the bottle with narrow top upright.",
+    "With the right arm, secure the bottle with rounded neck, pass around the plastic shampoo bottle with smooth surface, and set the bottle with rounded neck upright.",
+    "Take the green bottle with indented base, move it without nearing the white shampoo bottle with golden top, and stand the green bottle with indented base upright.",
+    "Lift the bottle with narrow top, keep its path away from the bottle for shampoo with glossy finish, and set the bottle with narrow top upright.",
+    "Using the right arm, grasp the medium-sized green bottle, move it past the medium shampoo container, then stand the medium-sized green bottle up.",
+    "Grab the bottle with narrow top, keep it from the white shampoo bottle, and set the bottle with narrow top upright.",
+    "Pick the medium-sized green bottle up, keep its path clear of the shampoo bottle with rectangular base, place the medium-sized green bottle upright.",
+    "Grab the green bottle with indented base, steer it around the bottle with yellow cap, and place the green bottle with indented base upright.",
+    "Using the right arm, pick the medium-sized green bottle up, keep clear of the shampoo bottle with rectangular base, place the medium-sized green bottle upright.",
+    "Take the medium-sized green bottle, route it away from the bottle for shampoo with glossy finish, and place the medium-sized green bottle upright.",
+    "Using the right arm, lift the bottle with ridges near base, keep clear of the rectangular shampoo bottle with rounded top, and place the bottle with ridges near base upright.",
+    "With the right arm, pick up the smooth green bottle, steer away from the hand-held shampoo bottle, and stand the smooth green bottle up.",
+    "With the right arm, lift the handheld green bottle, keep it away from the medium shampoo container, place the handheld green bottle upright.",
+    "With the right arm, take the medium green bottle, avoid the white shampoo bottle while moving, and set the medium green bottle upright.",
+    "Grab the medium-sized green bottle, carry it around the smooth shampoo container, then stand the medium-sized green bottle upright.",
+    "Lift the smooth green bottle, route it around the white shampoo bottle, then set the smooth green bottle upright.",
+    "Lift the smooth green plastic bottle, guide it around the plastic shampoo bottle with smooth surface, then stand the smooth green plastic bottle upright."
+  ],
+  "unseen": [
+    "Using the right arm, grab the green bottle, move around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle, move around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, move around the shampoo bottle with rounded yellow cap, and place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle, move around the white plastic shampoo bottle, and place the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green bottle with white label, move it clear of the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the white plastic shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, and place the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the white plastic shampoo bottle, and set the green bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode86.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa83ebaa5094104f3feb77b0281ab0d0348803ca
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the dark green bottle with pump, place the Coca-Cola bottle upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the plastic shampoo container while moving, and set the hand-sized soda bottle upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the rectangular dark green shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Grab the hand-sized soda bottle, keep it from the shampoo container with dispensing pump, and set the hand-sized soda bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the shampoo bottle with smooth surface, then place the bottle with white neck and red top upright.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the rectangular dark green shampoo bottle, place the narrow-necked bottle upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the hand-sized shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Lift the dark drink bottle with logo, route it around the medium size shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the plastic shampoo container, then set the bottle with white neck and red top upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the shampoo bottle with matte black pump, and put the smooth bottle with red lid upright.",
+    "Use the left arm to grab the long thin bottle, carry it away from the shampoo bottle with smooth surface, set the long thin bottle upright.",
+    "Move the Coca-Cola bottle away from the shampoo bottle with matte black pump as you lift, then place the Coca-Cola bottle upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the shampoo bottle, green with black cap, place the dark drink bottle with logo upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the green shampoo bottle en route, and stand the smooth bottle with red lid up.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the dark green bottle with pump, and stand the narrow-necked bottle up.",
+    "Grab the brown bottle with red label, keep it away from the green shampoo bottle, and put the brown bottle with red label down upright.",
+    "Guide the left arm to take the hand-sized soda bottle, bypass the shampoo bottle, green with black cap, and place the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, avoid the rectangular dark green shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Using the left arm, grasp the plastic drink bottle, move it past the shampoo bottle with black pump, then stand the plastic drink bottle up.",
+    "With the left arm, take the medium dark brown bottle up, steer past the shampoo bottle with black pump, and place the medium dark brown bottle upright.",
+    "Take the red-capped bottle up, skirt the shampoo bottle with black pump, and put the red-capped bottle down upright.",
+    "Lift the red-capped bottle, keep its path clear of the plastic shampoo container, then set the red-capped bottle upright.",
+    "With the left arm, secure the medium dark brown bottle, pass around the rectangular green plastic shampoo dispenser, and set the medium dark brown bottle upright.",
+    "Lift the medium dark brown bottle, guide it around the hand-sized shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Lift the smooth bottle with red lid, route its path away from the plastic shampoo container, then set the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the medium dark brown bottle up, avoid the dark green bottle with pump, and stand the medium dark brown bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the hand-sized shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Using the left arm, lift the long thin bottle, keep clear of the shampoo bottle with smooth surface, and place the long thin bottle upright.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the shampoo bottle, green with black cap, then place the plastic drink bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the plastic shampoo container, and set the bottle with white neck and red top upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the rectangular dark green shampoo bottle, and place the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the green shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the rectangular green plastic shampoo dispenser, then place the brown bottle with red label upright.",
+    "Grab the bottle with ridges on bottom, steer it around the hand-sized shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Take the bottle with white neck and red top, keep clear of the rectangular green plastic shampoo dispenser, and place the bottle with white neck and red top upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the shampoo container with dispensing pump, and set the dark drink bottle with logo upright.",
+    "Pick up the long thin bottle, route it around the shampoo bottle with black pump, then stand the long thin bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the medium size shampoo bottle, and stand the plastic drink bottle upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the rectangular dark green shampoo bottle, place the brown bottle with red label upright.",
+    "Take the long thin bottle, route it away from the rectangular green plastic shampoo dispenser, and place the long thin bottle upright.",
+    "Pick up the bottle with ridges on bottom with the left arm, keep it away from the shampoo bottle with smooth surface, place the bottle with ridges on bottom upright.",
+    "With the left arm, take the hand-sized soda bottle, avoid the shampoo bottle with black pump while moving, and set the hand-sized soda bottle upright.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the green shampoo bottle while moving, and set the bottle with white neck and red top upright.",
+    "Grab the bottle with white neck and red top, keep it from the hand-sized shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the medium size shampoo bottle, then place the brown bottle with red label upright.",
+    "With the left arm, lift the narrow-necked bottle, keep it away from the plastic shampoo container, place the narrow-necked bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the plastic shampoo container, and stand the plastic drink bottle upright.",
+    "Lift the plastic drink bottle, route it around the hand-sized shampoo bottle, then set the plastic drink bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the hand-sized shampoo bottle, then set the long thin bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the shampoo bottle with black pump, and put the brown bottle with red label upright.",
+    "Use the left arm to grab the bottle with white neck and red top, carry it away from the shampoo bottle with black pump, set the bottle with white neck and red top upright.",
+    "Move the dark drink bottle with logo away from the plastic shampoo container as you lift, then place the dark drink bottle with logo upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo bottle, green with black cap, place the plastic drink bottle upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the rectangular dark green shampoo bottle en route, and stand the dark drink bottle with logo up.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the shampoo bottle with black pump, and stand the hand-sized soda bottle up.",
+    "Grab the Coca-Cola bottle, keep it away from the green shampoo bottle, and put the Coca-Cola bottle down upright.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the green shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the plastic shampoo container while moving, then place the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the dark green bottle with pump, then stand the medium dark brown bottle up.",
+    "With the left arm, take the long thin bottle up, steer past the hand-sized shampoo bottle, and place the long thin bottle upright.",
+    "Take the smooth bottle with red lid up, skirt the shampoo bottle with matte black pump, and put the smooth bottle with red lid down upright.",
+    "Lift the plastic drink bottle, keep its path clear of the medium size shampoo bottle, then set the plastic drink bottle upright.",
+    "With the left arm, secure the smooth bottle with red lid, pass around the medium size shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Lift the brown bottle with red label, guide it around the hand-sized shampoo bottle, then stand the brown bottle with red label upright.",
+    "Lift the red-capped bottle, route its path away from the green shampoo bottle, then set the red-capped bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the medium size shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the shampoo bottle with matte black pump, and put the medium dark brown bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, keep clear of the shampoo bottle with matte black pump, and place the plastic drink bottle upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the hand-sized shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the rectangular green plastic shampoo dispenser, and set the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the shampoo bottle with smooth surface, and place the dark drink bottle with logo upright.",
+    "Grab the narrow-necked bottle, carry it around the hand-sized shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Grab the Coca-Cola bottle, move it without crossing the green shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the hand-sized shampoo bottle, and place the medium dark brown bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo container with dispensing pump, and place the bottle with ridges on bottom upright.",
+    "Lift the medium dark brown bottle, keep its path away from the plastic shampoo container, and set the medium dark brown bottle upright.",
+    "Pick up the dark drink bottle with logo, route it around the shampoo container with dispensing pump, then stand the dark drink bottle with logo upright.",
+    "Move the long thin bottle from its spot, skirt the shampoo bottle with smooth surface, and stand the long thin bottle upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the shampoo bottle with matte black pump, place the hand-sized soda bottle upright.",
+    "Take the bottle with white neck and red top, route it away from the shampoo bottle with black pump, and place the bottle with white neck and red top upright.",
+    "Pick up the hand-sized soda bottle with the left arm, keep it away from the medium size shampoo bottle, place the hand-sized soda bottle upright.",
+    "With the left arm, take the long thin bottle, avoid the shampoo bottle, green with black cap while moving, and set the long thin bottle upright.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the plastic shampoo container while moving, and set the bottle with white neck and red top upright.",
+    "Grab the dark drink bottle with logo, keep it from the shampoo bottle, green with black cap, and set the dark drink bottle with logo upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the shampoo bottle, green with black cap, then place the brown bottle with red label upright.",
+    "With the left arm, lift the long thin bottle, keep it away from the dark green bottle with pump, place the long thin bottle upright.",
+    "Take the Coca-Cola bottle, move it without nearing the rectangular green plastic shampoo dispenser, and stand the Coca-Cola bottle upright.",
+    "Lift the medium dark brown bottle, route it around the dark green bottle with pump, then set the medium dark brown bottle upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the rectangular green plastic shampoo dispenser, then set the plastic drink bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the shampoo bottle, green with black cap, and put the brown bottle with red label upright.",
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the dark green bottle with pump, set the hand-sized soda bottle upright.",
+    "Move the bottle with white neck and red top away from the shampoo bottle with black pump as you lift, then place the bottle with white neck and red top upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo bottle with smooth surface, place the plastic drink bottle upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the green shampoo bottle en route, and stand the dark drink bottle with logo up.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the dark green bottle with pump, and stand the bottle with white neck and red top up.",
+    "Grab the long thin bottle, keep it away from the hand-sized shampoo bottle, and put the long thin bottle down upright.",
+    "Guide the left arm to take the bottle with ridges on bottom, bypass the shampoo bottle with matte black pump, and place the bottle with ridges on bottom upright.",
+    "Grab the brown bottle with red label, avoid the green shampoo bottle while moving, then place the brown bottle with red label upright.",
+    "Using the left arm, grasp the brown bottle with red label, move it past the plastic shampoo container, then stand the brown bottle with red label up.",
+    "With the left arm, take the brown bottle with red label up, steer past the rectangular dark green shampoo bottle, and place the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode87.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ebabdeaab6e4d514e48ce441efc5a9aef1a0c44
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bottle with ridges near base, swing wide around the white shampoo bottle, and set the bottle with ridges near base upright.",
+    "Using the left arm, grasp the bottle with narrow top, move it past the shampoo bottle with rectangular base, then stand the bottle with narrow top up.",
+    "With the left arm, take the medium green bottle with capped neck, pass outside the white shampoo bottle with golden top, and put the medium green bottle with capped neck upright.",
+    "Take the medium-sized green bottle, keep clear of the rectangular shampoo bottle with rounded top, and place the medium-sized green bottle upright.",
+    "Grab the plastic bottle, keep it from the medium shampoo container, and set the plastic bottle upright.",
+    "With the left arm, take the handheld green bottle up, steer past the bottle with yellow cap, and place the handheld green bottle upright.",
+    "Take the bottle with ridges near base up, skirt the rectangular shampoo bottle with rounded top, and put the bottle with ridges near base down upright.",
+    "Using the left arm, lift the smooth green plastic bottle, pass clear of the shampoo bottle with rectangular base, then place the smooth green plastic bottle upright.",
+    "Guide the left arm to take the bottle with ridges near base, bypass the white shampoo bottle, and place the bottle with ridges near base upright.",
+    "With the left arm, pick the medium-sized green bottle up, avoid the white bottle with golden accents, and put the medium-sized green bottle upright.",
+    "Take the green bottle with indented base, move it without nearing the rectangular shampoo bottle with rounded top, and stand the green bottle with indented base upright.",
+    "Grab the bottle with white printed label, avoid the shampoo bottle with rectangular base while moving, then place the bottle with white printed label upright.",
+    "Grip the smooth green plastic bottle with the left arm, keep distance from the medium shampoo container, then set the smooth green plastic bottle upright.",
+    "Take the plastic bottle, route it away from the shampoo bottle with rectangular base, and place the plastic bottle upright.",
+    "Lift the bottle with white printed label, keep its path away from the medium shampoo container, and set the bottle with white printed label upright.",
+    "Pick the smooth green plastic bottle up, keep its path clear of the bottle for shampoo with glossy finish, place the smooth green plastic bottle upright.",
+    "Pick up the smooth green plastic bottle, route it around the white bottle with golden accents, then stand the smooth green plastic bottle upright.",
+    "Use the left arm to lift the bottle with ridges near base, avoid the medium shampoo container en route, and stand the bottle with ridges near base up.",
+    "Use the left arm to pick the bottle with narrow top up, avoid the smooth shampoo container, and place the bottle with narrow top upright.",
+    "With the left arm, secure the bottle with white printed label, pass around the shampoo bottle with rectangular base, and set the bottle with white printed label upright.",
+    "Grab the bottle with rounded neck, move it without crossing the bottle for shampoo with glossy finish, then place the bottle with rounded neck upright.",
+    "Pick up the handheld green bottle with the left arm, keep it away from the shampoo bottle with rectangular base, place the handheld green bottle upright.",
+    "Lift the green bottle with indented base, route it around the bottle for shampoo with glossy finish, then set the green bottle with indented base upright.",
+    "Move the handheld green bottle from its spot, skirt the bottle with yellow cap, and stand the handheld green bottle upright.",
+    "Lift the smooth green bottle, guide it around the white shampoo bottle, then stand the smooth green bottle upright.",
+    "With the left arm, lift the bottle with narrow top, keep it away from the white bottle with golden accents, place the bottle with narrow top upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the bottle for shampoo with glossy finish, then set the bottle with ridges near base upright.",
+    "Direct the left arm to pick the smooth green plastic bottle up, avoid the white shampoo bottle with golden top, and stand the smooth green plastic bottle upright.",
+    "Have the left arm grasp the medium green bottle with capped neck, avoid the white bottle with golden accents while moving, and set the medium green bottle with capped neck upright.",
+    "Grab the medium-sized green bottle, carry it around the plastic shampoo bottle with smooth surface, then stand the medium-sized green bottle upright.",
+    "Lift the smooth green bottle, route its path away from the hand-held shampoo bottle, then set the smooth green bottle upright.",
+    "Using the left arm, lift the medium-sized green bottle, keep clear of the bottle for shampoo with glossy finish, and place the medium-sized green bottle upright.",
+    "Use the left arm, raise the bottle with narrow top, keep distance from the bottle for shampoo with glossy finish, then place the bottle with narrow top upright.",
+    "Move the bottle with rounded neck away from the bottle with yellow cap as you lift, then place the bottle with rounded neck upright.",
+    "Use the left arm to grab the smooth green plastic bottle, carry it away from the plastic shampoo bottle with smooth surface, set the smooth green plastic bottle upright.",
+    "Grab the bottle with narrow top, steer it around the bottle with yellow cap, and place the bottle with narrow top upright.",
+    "Grab the smooth green bottle, keep it away from the rectangular shampoo bottle with rounded top, and put the smooth green bottle down upright.",
+    "Using the left arm, pick the bottle with ridges near base up, keep clear of the hand-held shampoo bottle, place the bottle with ridges near base upright.",
+    "With the left arm, pick up the bottle with narrow top, steer away from the white shampoo bottle, and stand the bottle with narrow top up.",
+    "With the left arm, take the handheld green bottle, avoid the hand-held shampoo bottle while moving, and set the handheld green bottle upright.",
+    "Pick up the plastic bottle, swing wide around the medium shampoo container, and set the plastic bottle upright.",
+    "Using the left arm, grasp the bottle with white printed label, move it past the rectangular shampoo bottle with rounded top, then stand the bottle with white printed label up.",
+    "With the left arm, take the green bottle with indented base, pass outside the plastic shampoo bottle with smooth surface, and put the green bottle with indented base upright.",
+    "Take the bottle with white printed label, keep clear of the hand-held shampoo bottle, and place the bottle with white printed label upright.",
+    "Grab the medium green bottle, keep it from the shampoo bottle, and set the medium green bottle upright.",
+    "With the left arm, take the plastic bottle up, steer past the white shampoo bottle, and place the plastic bottle upright.",
+    "Take the smooth green plastic bottle up, skirt the bottle with yellow cap, and put the smooth green plastic bottle down upright.",
+    "Using the left arm, lift the smooth green plastic bottle, pass clear of the bottle for shampoo with glossy finish, then place the smooth green plastic bottle upright.",
+    "Guide the left arm to take the green bottle with indented base, bypass the white shampoo bottle with golden top, and place the green bottle with indented base upright.",
+    "With the left arm, pick the smooth green plastic bottle up, avoid the bottle with yellow cap, and put the smooth green plastic bottle upright.",
+    "Take the handheld green bottle, move it without nearing the rectangular shampoo bottle with rounded top, and stand the handheld green bottle upright.",
+    "Grab the bottle with narrow top, avoid the bottle for shampoo with glossy finish while moving, then place the bottle with narrow top upright.",
+    "Grip the bottle with ridges near base with the left arm, keep distance from the shampoo bottle with rectangular base, then set the bottle with ridges near base upright.",
+    "Take the handheld green bottle, route it away from the shampoo bottle with rectangular base, and place the handheld green bottle upright.",
+    "Lift the bottle with rounded neck, keep its path away from the white shampoo bottle, and set the bottle with rounded neck upright.",
+    "Pick the plastic bottle up, keep its path clear of the white bottle with golden accents, place the plastic bottle upright.",
+    "Pick up the plastic bottle, route it around the bottle for shampoo with glossy finish, then stand the plastic bottle upright.",
+    "Use the left arm to lift the bottle with rounded neck, avoid the white shampoo bottle en route, and stand the bottle with rounded neck up.",
+    "Use the left arm to pick the handheld green bottle up, avoid the bottle with yellow cap, and place the handheld green bottle upright.",
+    "With the left arm, secure the green bottle with indented base, pass around the hand-held shampoo bottle, and set the green bottle with indented base upright.",
+    "Grab the green bottle with indented base, move it without crossing the white shampoo bottle with golden top, then place the green bottle with indented base upright.",
+    "Pick up the bottle with rounded neck with the left arm, keep it away from the plastic shampoo bottle with smooth surface, place the bottle with rounded neck upright.",
+    "Lift the bottle with narrow top, route it around the plastic shampoo bottle with smooth surface, then set the bottle with narrow top upright.",
+    "Move the medium green bottle with capped neck from its spot, skirt the white bottle with golden accents, and stand the medium green bottle with capped neck upright.",
+    "Lift the green bottle with indented base, guide it around the smooth shampoo container, then stand the green bottle with indented base upright.",
+    "With the left arm, lift the green bottle with indented base, keep it away from the white bottle with golden accents, place the green bottle with indented base upright.",
+    "Lift the plastic bottle, keep its path clear of the shampoo bottle, then set the plastic bottle upright.",
+    "Direct the left arm to pick the bottle with ridges near base up, avoid the white shampoo bottle with golden top, and stand the bottle with ridges near base upright.",
+    "Have the left arm grasp the bottle with ridges near base, avoid the shampoo bottle with rectangular base while moving, and set the bottle with ridges near base upright.",
+    "Grab the green bottle with indented base, carry it around the shampoo bottle, then stand the green bottle with indented base upright.",
+    "Lift the bottle with white printed label, route its path away from the medium shampoo container, then set the bottle with white printed label upright.",
+    "Using the left arm, lift the medium green bottle, keep clear of the white shampoo bottle with golden top, and place the medium green bottle upright.",
+    "Use the left arm, raise the bottle with ridges near base, keep distance from the smooth shampoo container, then place the bottle with ridges near base upright.",
+    "Move the bottle with rounded neck away from the bottle with yellow cap as you lift, then place the bottle with rounded neck upright.",
+    "Use the left arm to grab the bottle with ridges near base, carry it away from the bottle for shampoo with glossy finish, set the bottle with ridges near base upright.",
+    "Grab the plastic bottle, steer it around the hand-held shampoo bottle, and place the plastic bottle upright.",
+    "Grab the bottle with white printed label, keep it away from the shampoo bottle with rectangular base, and put the bottle with white printed label down upright.",
+    "Using the left arm, pick the bottle with rounded neck up, keep clear of the medium shampoo container, place the bottle with rounded neck upright.",
+    "With the left arm, pick up the smooth green bottle, steer away from the bottle for shampoo with glossy finish, and stand the smooth green bottle up.",
+    "With the left arm, take the bottle with white printed label, avoid the white shampoo bottle with golden top while moving, and set the bottle with white printed label upright.",
+    "Pick up the bottle with rounded neck, swing wide around the white shampoo bottle, and set the bottle with rounded neck upright.",
+    "Using the left arm, grasp the bottle with narrow top, move it past the bottle with yellow cap, then stand the bottle with narrow top up.",
+    "With the left arm, take the smooth green plastic bottle, pass outside the white shampoo bottle, and put the smooth green plastic bottle upright.",
+    "Take the plastic bottle, keep clear of the shampoo bottle with rectangular base, and place the plastic bottle upright.",
+    "Grab the medium green bottle, keep it from the shampoo bottle with rectangular base, and set the medium green bottle upright.",
+    "With the left arm, take the bottle with ridges near base up, steer past the smooth shampoo container, and place the bottle with ridges near base upright.",
+    "Take the bottle with rounded neck up, skirt the white shampoo bottle with golden top, and put the bottle with rounded neck down upright.",
+    "Using the left arm, lift the handheld green bottle, pass clear of the hand-held shampoo bottle, then place the handheld green bottle upright.",
+    "Guide the left arm to take the bottle with narrow top, bypass the rectangular shampoo bottle with rounded top, and place the bottle with narrow top upright.",
+    "With the left arm, pick the bottle with white printed label up, avoid the rectangular shampoo bottle with rounded top, and put the bottle with white printed label upright.",
+    "Take the plastic bottle, move it without nearing the bottle for shampoo with glossy finish, and stand the plastic bottle upright.",
+    "Grab the bottle with ridges near base, avoid the shampoo bottle while moving, then place the bottle with ridges near base upright.",
+    "Grip the bottle with rounded neck with the left arm, keep distance from the white shampoo bottle, then set the bottle with rounded neck upright.",
+    "Take the handheld green bottle, route it away from the plastic shampoo bottle with smooth surface, and place the handheld green bottle upright.",
+    "Lift the bottle with rounded neck, keep its path away from the white shampoo bottle with golden top, and set the bottle with rounded neck upright.",
+    "Pick the bottle with narrow top up, keep its path clear of the bottle for shampoo with glossy finish, place the bottle with narrow top upright.",
+    "Pick up the bottle with narrow top, route it around the white shampoo bottle with golden top, then stand the bottle with narrow top upright.",
+    "Use the left arm to lift the medium green bottle, avoid the white bottle with golden accents en route, and stand the medium green bottle up.",
+    "Use the left arm to pick the medium green bottle with capped neck up, avoid the shampoo bottle with rectangular base, and place the medium green bottle with capped neck upright.",
+    "With the left arm, secure the smooth green bottle, pass around the bottle for shampoo with glossy finish, and set the smooth green bottle upright."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the medium-sized shampoo bottle, and place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the medium-sized shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with rounded yellow cap, and place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the medium-sized shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo bottle with rounded yellow cap, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with rounded yellow cap, and place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the medium-sized shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the medium-sized shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the medium-sized shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the medium-sized shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white plastic shampoo bottle, and place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with rounded yellow cap, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the white plastic shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white plastic shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with rounded yellow cap, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the white plastic shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with rounded yellow cap, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the medium-sized shampoo bottle, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with rounded yellow cap, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the medium-sized shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white plastic shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the white plastic shampoo bottle, and place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with rounded yellow cap, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the medium-sized shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with rounded yellow cap, then set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with rounded yellow cap, then place the green bottle upright.",
+    "Pick up the green bottle, guide it around the white plastic shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the white plastic shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the medium-sized shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with rounded yellow cap, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with rounded yellow cap, and place the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white plastic shampoo bottle, and set the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode88.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..215df08ef2d36c337cd9fd71b87515f53ccd7604
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the white shampoo bottle, place the bottle with white neck and red top upright.",
+    "Lift the plastic drink bottle, route its path away from the white and blue shampoo container, then set the plastic drink bottle upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the white and blue shampoo container, place the smooth bottle with red lid upright.",
+    "Take the bottle with white neck and red top, keep clear of the bottle with smooth surface, and place the bottle with white neck and red top upright.",
+    "Take the bottle with ridges on bottom, route it away from the white shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the curved shampoo bottle, then place the medium dark brown bottle upright.",
+    "With the left arm, take the red-capped bottle up, steer past the bottle with hexagonal blue cap, and place the red-capped bottle upright.",
+    "Pick up the long thin bottle, swing wide around the curved shampoo bottle, and set the long thin bottle upright.",
+    "Use the left arm, raise the medium dark brown bottle, keep distance from the blue top shampoo bottle, then place the medium dark brown bottle upright.",
+    "Take the Coca-Cola bottle, move it without nearing the plastic shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the white and blue shampoo container, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the curved shampoo bottle while moving, and set the narrow-necked bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the white shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "Grip the plastic drink bottle with the left arm, keep distance from the curved shampoo bottle, then set the plastic drink bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the shampoo bottle with blue cap, then set the red-capped bottle upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the blue top shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the medium-sized white plastic shampoo, and stand the dark drink bottle with logo up.",
+    "Pick up the brown bottle with red label, route it around the white shampoo bottle, then stand the brown bottle with red label upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the plastic shampoo with orange label, and put the brown bottle with red label upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the bottle with hexagonal blue cap, and stand the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the shampoo bottle with curved sides, and set the smooth bottle with red lid upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the plastic shampoo with orange label while moving, and set the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, steer it around the plastic shampoo with orange label, and place the brown bottle with red label upright.",
+    "Using the left arm, pick the bottle with white neck and red top up, keep clear of the medium-sized white plastic shampoo, place the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle with blue cap, then stand the bottle with ridges on bottom upright.",
+    "Using the left arm, grasp the smooth bottle with red lid, move it past the plastic shampoo with orange label, then stand the smooth bottle with red lid up.",
+    "Lift the bottle with white neck and red top, route it around the plastic shampoo with orange label, then set the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the dark drink bottle with logo up, avoid the white and blue shampoo container, and stand the dark drink bottle with logo upright.",
+    "Grab the Coca-Cola bottle, keep it from the curved shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the plastic shampoo with orange label en route, and stand the Coca-Cola bottle up.",
+    "Move the long thin bottle away from the bottle with hexagonal blue cap as you lift, then place the long thin bottle upright.",
+    "Take the narrow-necked bottle up, skirt the handheld shampoo container, and put the narrow-necked bottle down upright.",
+    "Grab the bottle with ridges on bottom, keep it away from the white shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the white and blue shampoo container, set the bottle with ridges on bottom upright.",
+    "With the left arm, pick the brown bottle with red label up, avoid the curved shampoo bottle, and put the brown bottle with red label upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the medium-sized white plastic shampoo, and place the Coca-Cola bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the medium-sized white plastic shampoo, and set the plastic drink bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the curved shampoo bottle, then place the medium dark brown bottle upright.",
+    "With the left arm, lift the Coca-Cola bottle, keep it away from the white and blue shampoo container, place the Coca-Cola bottle upright.",
+    "Lift the bottle with white neck and red top, guide it around the curved shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the handheld shampoo container, place the red-capped bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the curved shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the plastic shampoo bottle, place the dark drink bottle with logo upright.",
+    "Take the plastic drink bottle, keep clear of the bottle with smooth surface, and place the plastic drink bottle upright.",
+    "Take the long thin bottle, route it away from the bottle with hexagonal blue cap, and place the long thin bottle upright.",
+    "Using the left arm, lift the bottle with white neck and red top, pass clear of the bottle with hexagonal blue cap, then place the bottle with white neck and red top upright.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the bottle with smooth surface, and place the smooth bottle with red lid upright.",
+    "Pick up the plastic drink bottle, swing wide around the blue top shampoo bottle, and set the plastic drink bottle upright.",
+    "Use the left arm, raise the plastic drink bottle, keep distance from the shampoo bottle with curved sides, then place the plastic drink bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the curved shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the white and blue shampoo container, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the brown bottle with red label, avoid the blue top shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, avoid the curved shampoo bottle while moving, then place the hand-sized soda bottle upright.",
+    "Grip the bottle with white neck and red top with the left arm, keep distance from the medium-sized white plastic shampoo, then set the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the plastic shampoo bottle, then set the narrow-necked bottle upright.",
+    "Use the left arm to pick the Coca-Cola bottle up, avoid the shampoo bottle with curved sides, and place the Coca-Cola bottle upright.",
+    "With the left arm, pick up the dark drink bottle with logo, steer away from the medium-sized white plastic shampoo, and stand the dark drink bottle with logo up.",
+    "Pick up the narrow-necked bottle, route it around the shampoo bottle with curved sides, then stand the narrow-necked bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the bottle with smooth surface, and put the brown bottle with red label upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the bottle with smooth surface, and stand the dark drink bottle with logo upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the bottle with hexagonal blue cap, and set the smooth bottle with red lid upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the white and blue shampoo container while moving, and set the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, steer it around the medium-sized white plastic shampoo, and place the medium dark brown bottle upright.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the blue top shampoo bottle, place the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the white shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the bottle with smooth surface, then stand the dark drink bottle with logo up.",
+    "Lift the Coca-Cola bottle, route it around the shampoo bottle with blue cap, then set the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the brown bottle with red label up, avoid the bottle with smooth surface, and stand the brown bottle with red label upright.",
+    "Grab the bottle with white neck and red top, keep it from the medium-sized white plastic shampoo, and set the bottle with white neck and red top upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the shampoo bottle with blue cap en route, and stand the smooth bottle with red lid up.",
+    "Move the brown bottle with red label away from the bottle with smooth surface as you lift, then place the brown bottle with red label upright.",
+    "Take the plastic drink bottle up, skirt the bottle with smooth surface, and put the plastic drink bottle down upright.",
+    "Grab the brown bottle with red label, keep it away from the plastic shampoo bottle, and put the brown bottle with red label down upright.",
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the blue top shampoo bottle, set the hand-sized soda bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the plastic shampoo bottle, and put the long thin bottle upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the plastic shampoo with orange label, and place the dark drink bottle with logo upright.",
+    "With the left arm, secure the narrow-necked bottle, pass around the white shampoo bottle, and set the narrow-necked bottle upright.",
+    "Grab the narrow-necked bottle, move it without crossing the plastic shampoo with orange label, then place the narrow-necked bottle upright.",
+    "With the left arm, lift the plastic drink bottle, keep it away from the bottle with hexagonal blue cap, place the plastic drink bottle upright.",
+    "Lift the brown bottle with red label, guide it around the white shampoo bottle, then stand the brown bottle with red label upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the curved shampoo bottle, place the brown bottle with red label upright.",
+    "Lift the hand-sized soda bottle, route its path away from the bottle with smooth surface, then set the hand-sized soda bottle upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the shampoo bottle with curved sides, place the hand-sized soda bottle upright.",
+    "Take the dark drink bottle with logo, keep clear of the blue top shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Take the bottle with white neck and red top, route it away from the bottle with hexagonal blue cap, and place the bottle with white neck and red top upright.",
+    "Using the left arm, lift the red-capped bottle, pass clear of the bottle with hexagonal blue cap, then place the red-capped bottle upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the bottle with smooth surface, and place the plastic drink bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the plastic shampoo with orange label, and set the smooth bottle with red lid upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the medium-sized white plastic shampoo, then place the Coca-Cola bottle upright.",
+    "Take the narrow-necked bottle, move it without nearing the white shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the shampoo bottle with curved sides, and place the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle, avoid the shampoo bottle with blue cap while moving, and set the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, avoid the blue top shampoo bottle while moving, then place the hand-sized soda bottle upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the handheld shampoo container, then set the bottle with ridges on bottom upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the plastic shampoo with orange label, then set the dark drink bottle with logo upright.",
+    "Use the left arm to pick the plastic drink bottle up, avoid the blue top shampoo bottle, and place the plastic drink bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the white shampoo bottle, and stand the red-capped bottle up.",
+    "Pick up the bottle with white neck and red top, route it around the white shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the plastic shampoo bottle, and put the dark drink bottle with logo upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the shampoo bottle with curved sides, and stand the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the plastic soda bottle, carry it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the white shampoo with orange design, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container in white and blue, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the blue-capped shampoo bottle, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the white shampoo with orange design, then place the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the white shampoo with orange design, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container in white and blue, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the white shampoo with orange design, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the blue-capped shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white shampoo with orange design, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container in white and blue, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the blue-capped shampoo bottle, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the white shampoo with orange design, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container in white and blue, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the white shampoo with orange design, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container in white and blue, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the white shampoo with orange design, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the white shampoo with orange design, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container in white and blue, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the blue-capped shampoo bottle, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the white shampoo with orange design, and set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the blue-capped shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the blue-capped shampoo bottle, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the blue-capped shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the white shampoo with orange design, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container in white and blue, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the blue-capped shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the white shampoo with orange design, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Use the left arm to grab the brown bottle, move around the white shampoo with orange design, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the blue-capped shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container in white and blue, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the blue-capped shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the white shampoo with orange design, then set the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode89.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7f622996ac5bab09949bdd78482bad8cb899e7
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the long thin bottle, keep its path away from the oval-shaped shampoo bottle, and set the long thin bottle upright.",
+    "Take the brown bottle with red label up, skirt the shampoo dispenser with flat base, and put the brown bottle with red label down upright.",
+    "Use the right arm to grab the dark drink bottle with logo, carry it away from the pink-topped shampoo bottle, set the dark drink bottle with logo upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the glossy white shampoo bottle, and put the plastic drink bottle upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the shampoo dispenser with flat base, and set the bottle with ridges on bottom upright.",
+    "Grab the narrow-necked bottle, avoid the white shampoo bottle while moving, then place the narrow-necked bottle upright.",
+    "Using the right arm, lift the Coca-Cola bottle, keep clear of the oval-shaped shampoo bottle, and place the Coca-Cola bottle upright.",
+    "With the right arm, take the smooth bottle with red lid up, steer past the medium shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Take the smooth bottle with red lid, move it without nearing the white shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Move the red-capped bottle away from the oval-shaped shampoo bottle as you lift, then place the red-capped bottle upright.",
+    "Take the narrow-necked bottle, keep clear of the medium oval plastic shampoo container, and place the narrow-necked bottle upright.",
+    "Lift the Coca-Cola bottle, guide it around the white shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the medium oval plastic shampoo container, then place the brown bottle with red label upright.",
+    "Use the right arm to pick the bottle with white neck and red top up, avoid the oval-shaped shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, carry it around the white body pink flip cap bottle, then stand the Coca-Cola bottle upright.",
+    "With the right arm, take the dark drink bottle with logo, avoid the pink-topped shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Move the plastic drink bottle from its spot, skirt the glossy white shampoo bottle, and stand the plastic drink bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the medium oval plastic shampoo container, then set the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, route its path away from the pink-topped shampoo bottle, then set the Coca-Cola bottle upright.",
+    "Direct the right arm to pick the Coca-Cola bottle up, avoid the shampoo bottle with pink cap, and stand the Coca-Cola bottle upright.",
+    "Guide the right arm to take the hand-sized soda bottle, bypass the medium oval plastic shampoo container, and place the hand-sized soda bottle upright.",
+    "Grab the medium dark brown bottle, keep it from the plastic shampoo container, and set the medium dark brown bottle upright.",
+    "Using the right arm, pick the bottle with white neck and red top up, keep clear of the shampoo bottle with pink cap, place the bottle with white neck and red top upright.",
+    "Use the right arm to lift the brown bottle with red label, avoid the white body pink flip cap bottle en route, and stand the brown bottle with red label up.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the white shampoo bottle, then set the plastic drink bottle upright.",
+    "Have the right arm grasp the red-capped bottle, avoid the oval-shaped shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Using the right arm, grasp the long thin bottle, move it past the smooth white shampoo dispenser, then stand the long thin bottle up.",
+    "Use the right arm, raise the bottle with white neck and red top, keep distance from the plastic shampoo container, then place the bottle with white neck and red top upright.",
+    "With the right arm, take the long thin bottle, pass outside the smooth white shampoo dispenser, and put the long thin bottle upright.",
+    "With the right arm, lift the bottle with ridges on bottom, keep it away from the plastic shampoo container, place the bottle with ridges on bottom upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the white body pink flip cap bottle, then set the bottle with ridges on bottom upright.",
+    "Grab the smooth bottle with red lid, steer it around the medium oval plastic shampoo container, and place the smooth bottle with red lid upright.",
+    "Take the long thin bottle, route it away from the smooth white shampoo dispenser, and place the long thin bottle upright.",
+    "Using the right arm, lift the dark drink bottle with logo, pass clear of the pink-topped shampoo bottle, then place the dark drink bottle with logo upright.",
+    "Pick up the dark drink bottle with logo, route it around the smooth white shampoo dispenser, then stand the dark drink bottle with logo upright.",
+    "With the right arm, pick up the bottle with white neck and red top, steer away from the smooth white shampoo dispenser, and stand the bottle with white neck and red top up.",
+    "Grab the medium dark brown bottle, keep it away from the medium shampoo bottle, and put the medium dark brown bottle down upright.",
+    "With the right arm, secure the bottle with white neck and red top, pass around the white body pink flip cap bottle, and set the bottle with white neck and red top upright.",
+    "Pick up the bottle with ridges on bottom with the right arm, keep it away from the oval-shaped shampoo bottle, place the bottle with ridges on bottom upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the pink-topped shampoo bottle, place the medium dark brown bottle upright.",
+    "Lift the dark drink bottle with logo, keep its path away from the hand-sized shampoo bottle, and set the dark drink bottle with logo upright.",
+    "Take the long thin bottle up, skirt the shampoo dispenser with flat base, and put the long thin bottle down upright.",
+    "Use the right arm to grab the brown bottle with red label, carry it away from the medium oval plastic shampoo container, set the brown bottle with red label upright.",
+    "With the right arm, pick the bottle with white neck and red top up, avoid the glossy white shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Pick up the plastic drink bottle, swing wide around the white shampoo bottle, and set the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, avoid the medium oval plastic shampoo container while moving, then place the narrow-necked bottle upright.",
+    "Using the right arm, lift the red-capped bottle, keep clear of the shampoo dispenser with flat base, and place the red-capped bottle upright.",
+    "With the right arm, take the dark drink bottle with logo up, steer past the pink-topped shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Take the bottle with white neck and red top, move it without nearing the shampoo dispenser with flat base, and stand the bottle with white neck and red top upright.",
+    "Move the dark drink bottle with logo away from the medium shampoo bottle as you lift, then place the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, keep clear of the white shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Lift the Coca-Cola bottle, guide it around the shampoo bottle with pink cap, then stand the Coca-Cola bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the smooth white shampoo dispenser, then place the bottle with white neck and red top upright.",
+    "Use the right arm to pick the narrow-necked bottle up, avoid the white body pink flip cap bottle, and place the narrow-necked bottle upright.",
+    "Grab the bottle with white neck and red top, carry it around the medium oval plastic shampoo container, then stand the bottle with white neck and red top upright.",
+    "With the right arm, take the medium dark brown bottle, avoid the white body pink flip cap bottle while moving, and set the medium dark brown bottle upright.",
+    "Move the plastic drink bottle from its spot, skirt the oval-shaped shampoo bottle, and stand the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, route it around the oval-shaped shampoo bottle, then set the bottle with white neck and red top upright.",
+    "Lift the red-capped bottle, route its path away from the oval-shaped shampoo bottle, then set the red-capped bottle upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the oval-shaped shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Guide the right arm to take the medium dark brown bottle, bypass the shampoo dispenser with flat base, and place the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, keep it from the glossy white shampoo bottle, and set the medium dark brown bottle upright.",
+    "Using the right arm, pick the medium dark brown bottle up, keep clear of the white shampoo bottle, place the medium dark brown bottle upright.",
+    "Use the right arm to lift the bottle with ridges on bottom, avoid the shampoo bottle with pink cap en route, and stand the bottle with ridges on bottom up.",
+    "Grip the bottle with ridges on bottom with the right arm, keep distance from the hand-sized shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Have the right arm grasp the smooth bottle with red lid, avoid the glossy white shampoo bottle while moving, and set the smooth bottle with red lid upright.",
+    "Using the right arm, grasp the narrow-necked bottle, move it past the hand-sized shampoo bottle, then stand the narrow-necked bottle up.",
+    "Use the right arm, raise the dark drink bottle with logo, keep distance from the glossy white shampoo bottle, then place the dark drink bottle with logo upright.",
+    "With the right arm, take the bottle with ridges on bottom, pass outside the shampoo bottle with pink cap, and put the bottle with ridges on bottom upright.",
+    "With the right arm, lift the plastic drink bottle, keep it away from the medium shampoo bottle, place the plastic drink bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the medium oval plastic shampoo container, then set the bottle with ridges on bottom upright.",
+    "Grab the medium dark brown bottle, steer it around the shampoo bottle with pink cap, and place the medium dark brown bottle upright.",
+    "Take the smooth bottle with red lid, route it away from the shampoo dispenser with flat base, and place the smooth bottle with red lid upright.",
+    "Using the right arm, lift the brown bottle with red label, pass clear of the oval-shaped shampoo bottle, then place the brown bottle with red label upright.",
+    "Pick up the dark drink bottle with logo, route it around the pink-topped shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "With the right arm, pick up the narrow-necked bottle, steer away from the smooth white shampoo dispenser, and stand the narrow-necked bottle up.",
+    "Grab the dark drink bottle with logo, keep it away from the white shampoo bottle, and put the dark drink bottle with logo down upright.",
+    "With the right arm, secure the Coca-Cola bottle, pass around the medium shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Pick up the smooth bottle with red lid with the right arm, keep it away from the hand-sized shampoo bottle, place the smooth bottle with red lid upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the shampoo dispenser with flat base, place the smooth bottle with red lid upright.",
+    "Lift the narrow-necked bottle, keep its path away from the shampoo bottle with pink cap, and set the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle up, skirt the white shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Use the right arm to grab the narrow-necked bottle, carry it away from the shampoo dispenser with flat base, set the narrow-necked bottle upright.",
+    "With the right arm, pick the narrow-necked bottle up, avoid the hand-sized shampoo bottle, and put the narrow-necked bottle upright.",
+    "Pick up the brown bottle with red label, swing wide around the shampoo bottle with pink cap, and set the brown bottle with red label upright.",
+    "Grab the long thin bottle, avoid the medium oval plastic shampoo container while moving, then place the long thin bottle upright.",
+    "Using the right arm, lift the smooth bottle with red lid, keep clear of the smooth white shampoo dispenser, and place the smooth bottle with red lid upright.",
+    "With the right arm, take the Coca-Cola bottle up, steer past the oval-shaped shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Take the red-capped bottle, move it without nearing the white body pink flip cap bottle, and stand the red-capped bottle upright.",
+    "Move the plastic drink bottle away from the plastic shampoo container as you lift, then place the plastic drink bottle upright.",
+    "Take the brown bottle with red label, keep clear of the white shampoo bottle, and place the brown bottle with red label upright.",
+    "Lift the narrow-necked bottle, guide it around the white body pink flip cap bottle, then stand the narrow-necked bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the smooth white shampoo dispenser, then place the medium dark brown bottle upright.",
+    "Use the right arm to pick the dark drink bottle with logo up, avoid the glossy white shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, carry it around the medium shampoo bottle, then stand the brown bottle with red label upright.",
+    "With the right arm, take the brown bottle with red label, avoid the white body pink flip cap bottle while moving, and set the brown bottle with red label upright.",
+    "Move the plastic drink bottle from its spot, skirt the medium oval plastic shampoo container, and stand the plastic drink bottle upright.",
+    "Lift the narrow-necked bottle, route it around the white shampoo bottle, then set the narrow-necked bottle upright.",
+    "Lift the hand-sized soda bottle, route its path away from the oval-shaped shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the plastic shampoo container, and stand the dark drink bottle with logo upright."
+  ],
+  "unseen": [
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode9.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a17309ca7202f29c1dcbcdcf17cd1de92b55253
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized green bottle, carry it around the blue top shampoo bottle, then stand the medium-sized green bottle upright.",
+    "Grab the medium green bottle, steer it around the medium-sized white plastic shampoo, and place the medium green bottle upright.",
+    "Pick up the smooth green bottle, swing wide around the medium-sized white plastic shampoo, and set the smooth green bottle upright.",
+    "With the left arm, pick the green bottle with indented base up, avoid the curved shampoo bottle, and put the green bottle with indented base upright.",
+    "Direct the left arm to pick the bottle with ridges near base up, avoid the medium-sized white plastic shampoo, and stand the bottle with ridges near base upright.",
+    "Take the medium green bottle with capped neck, move it without nearing the plastic shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Pick up the bottle with white printed label, route it around the white and blue shampoo container, then stand the bottle with white printed label upright.",
+    "Use the left arm to lift the plastic bottle, avoid the white shampoo bottle en route, and stand the plastic bottle up.",
+    "With the left arm, lift the bottle with rounded neck, keep it away from the white shampoo bottle, place the bottle with rounded neck upright.",
+    "With the left arm, take the smooth green plastic bottle, pass outside the shampoo bottle with curved sides, and put the smooth green plastic bottle upright.",
+    "Pick the plastic bottle up, keep its path clear of the handheld shampoo container, place the plastic bottle upright.",
+    "With the left arm, secure the bottle with white printed label, pass around the medium-sized white plastic shampoo, and set the bottle with white printed label upright.",
+    "Take the bottle with white printed label up, skirt the handheld shampoo container, and put the bottle with white printed label down upright.",
+    "Grab the medium-sized green bottle, keep it from the medium-sized white plastic shampoo, and set the medium-sized green bottle upright.",
+    "Using the left arm, lift the bottle with rounded neck, keep clear of the shampoo bottle with curved sides, and place the bottle with rounded neck upright.",
+    "Lift the green bottle with indented base, route its path away from the white and blue shampoo container, then set the green bottle with indented base upright.",
+    "Grab the medium green bottle, avoid the white and blue shampoo container while moving, then place the medium green bottle upright.",
+    "Pick up the plastic bottle with the left arm, keep it away from the shampoo bottle with curved sides, place the plastic bottle upright.",
+    "With the left arm, pick up the smooth green bottle, steer away from the bottle with hexagonal blue cap, and stand the smooth green bottle up.",
+    "Take the medium green bottle, route it away from the blue top shampoo bottle, and place the medium green bottle upright.",
+    "Grab the medium green bottle, move it without crossing the plastic shampoo bottle, then place the medium green bottle upright.",
+    "Lift the medium green bottle with capped neck, guide it around the curved shampoo bottle, then stand the medium green bottle with capped neck upright.",
+    "With the left arm, take the medium-sized green bottle up, steer past the plastic shampoo bottle, and place the medium-sized green bottle upright.",
+    "Have the left arm grasp the bottle with white printed label, avoid the bottle with hexagonal blue cap while moving, and set the bottle with white printed label upright.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the white shampoo bottle, place the bottle with white printed label upright.",
+    "Grip the plastic bottle with the left arm, keep distance from the plastic shampoo with orange label, then set the plastic bottle upright.",
+    "Lift the bottle with rounded neck, route it around the medium-sized white plastic shampoo, then set the bottle with rounded neck upright.",
+    "Using the left arm, grasp the medium green bottle, move it past the handheld shampoo container, then stand the medium green bottle up.",
+    "With the left arm, take the medium green bottle with capped neck, avoid the plastic shampoo with orange label while moving, and set the medium green bottle with capped neck upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the white shampoo bottle, set the bottle with white printed label upright.",
+    "Grab the bottle with white printed label, keep it away from the handheld shampoo container, and put the bottle with white printed label down upright.",
+    "Using the left arm, lift the bottle with narrow top, pass clear of the white shampoo bottle, then place the bottle with narrow top upright.",
+    "Guide the left arm to take the handheld green bottle, bypass the shampoo bottle with blue cap, and place the handheld green bottle upright.",
+    "Lift the bottle with ridges near base, keep its path clear of the plastic shampoo with orange label, then set the bottle with ridges near base upright.",
+    "Use the left arm to pick the handheld green bottle up, avoid the shampoo bottle with blue cap, and place the handheld green bottle upright.",
+    "Use the left arm, raise the medium green bottle with capped neck, keep distance from the shampoo bottle with curved sides, then place the medium green bottle with capped neck upright.",
+    "Move the bottle with narrow top from its spot, skirt the shampoo bottle with curved sides, and stand the bottle with narrow top upright.",
+    "Move the medium green bottle with capped neck away from the shampoo bottle with blue cap as you lift, then place the medium green bottle with capped neck upright.",
+    "Take the handheld green bottle, keep clear of the white shampoo bottle, and place the handheld green bottle upright.",
+    "Lift the bottle with rounded neck, keep its path away from the bottle with smooth surface, and set the bottle with rounded neck upright.",
+    "Grab the plastic bottle, carry it around the bottle with smooth surface, then stand the plastic bottle upright.",
+    "Grab the handheld green bottle, steer it around the medium-sized white plastic shampoo, and place the handheld green bottle upright.",
+    "Pick up the green bottle with indented base, swing wide around the handheld shampoo container, and set the green bottle with indented base upright.",
+    "With the left arm, pick the medium-sized green bottle up, avoid the plastic shampoo with orange label, and put the medium-sized green bottle upright.",
+    "Direct the left arm to pick the medium green bottle with capped neck up, avoid the plastic shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Take the bottle with ridges near base, move it without nearing the plastic shampoo with orange label, and stand the bottle with ridges near base upright.",
+    "Pick up the bottle with white printed label, route it around the medium-sized white plastic shampoo, then stand the bottle with white printed label upright.",
+    "Use the left arm to lift the plastic bottle, avoid the bottle with hexagonal blue cap en route, and stand the plastic bottle up.",
+    "With the left arm, lift the bottle with white printed label, keep it away from the handheld shampoo container, place the bottle with white printed label upright.",
+    "With the left arm, take the bottle with rounded neck, pass outside the shampoo bottle with curved sides, and put the bottle with rounded neck upright.",
+    "Pick the bottle with white printed label up, keep its path clear of the handheld shampoo container, place the bottle with white printed label upright.",
+    "With the left arm, secure the medium green bottle, pass around the plastic shampoo bottle, and set the medium green bottle upright.",
+    "Take the bottle with rounded neck up, skirt the shampoo bottle with blue cap, and put the bottle with rounded neck down upright.",
+    "Grab the bottle with rounded neck, keep it from the bottle with smooth surface, and set the bottle with rounded neck upright.",
+    "Using the left arm, lift the bottle with narrow top, keep clear of the plastic shampoo bottle, and place the bottle with narrow top upright.",
+    "Lift the bottle with rounded neck, route its path away from the handheld shampoo container, then set the bottle with rounded neck upright.",
+    "Grab the bottle with ridges near base, avoid the white shampoo bottle while moving, then place the bottle with ridges near base upright.",
+    "Pick up the handheld green bottle with the left arm, keep it away from the shampoo bottle with blue cap, place the handheld green bottle upright.",
+    "With the left arm, pick up the plastic bottle, steer away from the curved shampoo bottle, and stand the plastic bottle up.",
+    "Take the medium green bottle with capped neck, route it away from the shampoo bottle with blue cap, and place the medium green bottle with capped neck upright.",
+    "Grab the bottle with rounded neck, move it without crossing the bottle with smooth surface, then place the bottle with rounded neck upright.",
+    "Lift the bottle with narrow top, guide it around the shampoo bottle with blue cap, then stand the bottle with narrow top upright.",
+    "With the left arm, take the bottle with rounded neck up, steer past the shampoo bottle with curved sides, and place the bottle with rounded neck upright.",
+    "Have the left arm grasp the smooth green plastic bottle, avoid the white shampoo bottle while moving, and set the smooth green plastic bottle upright.",
+    "Using the left arm, pick the bottle with white printed label up, keep clear of the bottle with smooth surface, place the bottle with white printed label upright.",
+    "Grip the smooth green plastic bottle with the left arm, keep distance from the plastic shampoo bottle, then set the smooth green plastic bottle upright.",
+    "Lift the smooth green plastic bottle, route it around the white and blue shampoo container, then set the smooth green plastic bottle upright.",
+    "Using the left arm, grasp the bottle with rounded neck, move it past the shampoo bottle with blue cap, then stand the bottle with rounded neck up.",
+    "With the left arm, take the bottle with white printed label, avoid the curved shampoo bottle while moving, and set the bottle with white printed label upright.",
+    "Use the left arm to grab the medium-sized green bottle, carry it away from the curved shampoo bottle, set the medium-sized green bottle upright.",
+    "Grab the plastic bottle, keep it away from the handheld shampoo container, and put the plastic bottle down upright.",
+    "Using the left arm, lift the green bottle with indented base, pass clear of the medium-sized white plastic shampoo, then place the green bottle with indented base upright.",
+    "Guide the left arm to take the plastic bottle, bypass the bottle with smooth surface, and place the plastic bottle upright.",
+    "Lift the handheld green bottle, keep its path clear of the bottle with smooth surface, then set the handheld green bottle upright.",
+    "Use the left arm to pick the bottle with white printed label up, avoid the bottle with smooth surface, and place the bottle with white printed label upright.",
+    "Use the left arm, raise the medium-sized green bottle, keep distance from the shampoo bottle with blue cap, then place the medium-sized green bottle upright.",
+    "Move the smooth green plastic bottle from its spot, skirt the plastic shampoo with orange label, and stand the smooth green plastic bottle upright.",
+    "Move the bottle with white printed label away from the bottle with hexagonal blue cap as you lift, then place the bottle with white printed label upright.",
+    "Take the bottle with narrow top, keep clear of the shampoo bottle with blue cap, and place the bottle with narrow top upright.",
+    "Lift the bottle with ridges near base, keep its path away from the white and blue shampoo container, and set the bottle with ridges near base upright.",
+    "Grab the medium green bottle with capped neck, carry it around the white shampoo bottle, then stand the medium green bottle with capped neck upright.",
+    "Grab the bottle with rounded neck, steer it around the shampoo bottle with curved sides, and place the bottle with rounded neck upright.",
+    "Pick up the bottle with rounded neck, swing wide around the curved shampoo bottle, and set the bottle with rounded neck upright.",
+    "With the left arm, pick the plastic bottle up, avoid the curved shampoo bottle, and put the plastic bottle upright.",
+    "Direct the left arm to pick the medium-sized green bottle up, avoid the plastic shampoo bottle, and stand the medium-sized green bottle upright.",
+    "Take the medium green bottle with capped neck, move it without nearing the plastic shampoo bottle, and stand the medium green bottle with capped neck upright.",
+    "Pick up the plastic bottle, route it around the shampoo bottle with curved sides, then stand the plastic bottle upright.",
+    "Use the left arm to lift the smooth green bottle, avoid the handheld shampoo container en route, and stand the smooth green bottle up.",
+    "With the left arm, lift the bottle with narrow top, keep it away from the medium-sized white plastic shampoo, place the bottle with narrow top upright.",
+    "With the left arm, take the smooth green bottle, pass outside the curved shampoo bottle, and put the smooth green bottle upright.",
+    "Pick the plastic bottle up, keep its path clear of the curved shampoo bottle, place the plastic bottle upright.",
+    "With the left arm, secure the bottle with rounded neck, pass around the plastic shampoo bottle, and set the bottle with rounded neck upright.",
+    "Take the bottle with white printed label up, skirt the plastic shampoo with orange label, and put the bottle with white printed label down upright.",
+    "Grab the smooth green plastic bottle, keep it from the medium-sized white plastic shampoo, and set the smooth green plastic bottle upright.",
+    "Using the left arm, lift the bottle with narrow top, keep clear of the bottle with hexagonal blue cap, and place the bottle with narrow top upright.",
+    "Lift the bottle with rounded neck, route its path away from the shampoo bottle with blue cap, then set the bottle with rounded neck upright.",
+    "Grab the bottle with ridges near base, avoid the shampoo bottle with blue cap while moving, then place the bottle with ridges near base upright.",
+    "Pick up the bottle with white printed label with the left arm, keep it away from the white and blue shampoo container, place the bottle with white printed label upright.",
+    "With the left arm, pick up the medium green bottle, steer away from the curved shampoo bottle, and stand the medium green bottle up.",
+    "Take the bottle with rounded neck, route it away from the white and blue shampoo container, and place the bottle with rounded neck upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo container in white and blue, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the white shampoo with orange design, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, move around the white shampoo with orange design, and place the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the white shampoo with orange design, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo container in white and blue, then place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle, guide it around the shampoo container in white and blue, then place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the blue-capped shampoo bottle, then set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode90.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6452e1655a06b7c32a0d272f8a8558299b95f0b
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, lift the plastic drink bottle, pass clear of the shampoo bottle with smooth surface, then place the plastic drink bottle upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the shampoo bottle with smooth surface, and stand the dark drink bottle with logo upright.",
+    "With the right arm, pick up the bottle with ridges on bottom, steer away from the shampoo bottle with black pump, and stand the bottle with ridges on bottom up.",
+    "With the right arm, lift the smooth bottle with red lid, keep it away from the shampoo bottle with smooth surface, place the smooth bottle with red lid upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle with black pump, and put the narrow-necked bottle down upright.",
+    "Lift the brown bottle with red label, keep its path away from the shampoo bottle with black pump, and set the brown bottle with red label upright.",
+    "Grip the plastic drink bottle with the right arm, keep distance from the dark green bottle with pump, then set the plastic drink bottle upright.",
+    "Have the right arm grasp the long thin bottle, avoid the medium size shampoo bottle while moving, and set the long thin bottle upright.",
+    "Direct the right arm to pick the bottle with ridges on bottom up, avoid the shampoo bottle, green with black cap, and stand the bottle with ridges on bottom upright.",
+    "Lift the medium dark brown bottle, route it around the shampoo bottle with smooth surface, then set the medium dark brown bottle upright.",
+    "Take the plastic drink bottle, move it without nearing the shampoo bottle with black pump, and stand the plastic drink bottle upright.",
+    "Grab the red-capped bottle, carry it around the hand-sized shampoo bottle, then stand the red-capped bottle upright.",
+    "Lift the plastic drink bottle, guide it around the plastic shampoo container, then stand the plastic drink bottle upright.",
+    "Using the right arm, pick the medium dark brown bottle up, keep clear of the shampoo bottle with smooth surface, place the medium dark brown bottle upright.",
+    "Guide the right arm to take the hand-sized soda bottle, bypass the shampoo bottle with matte black pump, and place the hand-sized soda bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the medium size shampoo bottle, and place the brown bottle with red label upright.",
+    "Use the right arm to grab the medium dark brown bottle, carry it away from the shampoo bottle with matte black pump, set the medium dark brown bottle upright.",
+    "With the right arm, take the red-capped bottle up, steer past the rectangular green plastic shampoo dispenser, and place the red-capped bottle upright.",
+    "With the right arm, pick the bottle with ridges on bottom up, avoid the hand-sized shampoo bottle, and put the bottle with ridges on bottom upright.",
+    "Pick up the smooth bottle with red lid with the right arm, keep it away from the shampoo bottle with smooth surface, place the smooth bottle with red lid upright.",
+    "Using the right arm, grasp the bottle with white neck and red top, move it past the shampoo container with dispensing pump, then stand the bottle with white neck and red top up.",
+    "With the right arm, take the Coca-Cola bottle, pass outside the shampoo bottle, green with black cap, and put the Coca-Cola bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path clear of the shampoo bottle with smooth surface, then set the Coca-Cola bottle upright.",
+    "Use the right arm to pick the long thin bottle up, avoid the shampoo bottle, green with black cap, and place the long thin bottle upright.",
+    "With the right arm, secure the hand-sized soda bottle, pass around the medium size shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Use the right arm, raise the bottle with ridges on bottom, keep distance from the plastic shampoo container, then place the bottle with ridges on bottom upright.",
+    "Grab the bottle with white neck and red top, keep it from the shampoo bottle with black pump, and set the bottle with white neck and red top upright.",
+    "Grab the hand-sized soda bottle, steer it around the medium size shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, move it without crossing the shampoo bottle with smooth surface, then place the brown bottle with red label upright.",
+    "Take the dark drink bottle with logo, keep clear of the medium size shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Take the bottle with white neck and red top, route it away from the hand-sized shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the rectangular green plastic shampoo dispenser, and set the smooth bottle with red lid upright.",
+    "Take the Coca-Cola bottle up, skirt the dark green bottle with pump, and put the Coca-Cola bottle down upright.",
+    "With the right arm, take the hand-sized soda bottle, avoid the medium size shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the hand-sized shampoo bottle, then set the narrow-necked bottle upright.",
+    "Pick the red-capped bottle up, keep its path clear of the plastic shampoo container, place the red-capped bottle upright.",
+    "Move the narrow-necked bottle away from the plastic shampoo container as you lift, then place the narrow-necked bottle upright.",
+    "Use the right arm to lift the medium dark brown bottle, avoid the rectangular dark green shampoo bottle en route, and stand the medium dark brown bottle up.",
+    "Pick up the narrow-necked bottle, route it around the shampoo bottle with smooth surface, then stand the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, avoid the rectangular green plastic shampoo dispenser while moving, then place the dark drink bottle with logo upright.",
+    "Using the right arm, lift the long thin bottle, pass clear of the shampoo container with dispensing pump, then place the long thin bottle upright.",
+    "Move the narrow-necked bottle from its spot, skirt the shampoo bottle with matte black pump, and stand the narrow-necked bottle upright.",
+    "With the right arm, pick up the bottle with ridges on bottom, steer away from the medium size shampoo bottle, and stand the bottle with ridges on bottom up.",
+    "With the right arm, lift the medium dark brown bottle, keep it away from the dark green bottle with pump, place the medium dark brown bottle upright.",
+    "Grab the plastic drink bottle, keep it away from the rectangular dark green shampoo bottle, and put the plastic drink bottle down upright.",
+    "Lift the long thin bottle, keep its path away from the shampoo bottle with matte black pump, and set the long thin bottle upright.",
+    "Grip the red-capped bottle with the right arm, keep distance from the shampoo container with dispensing pump, then set the red-capped bottle upright.",
+    "Have the right arm grasp the dark drink bottle with logo, avoid the green shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Direct the right arm to pick the narrow-necked bottle up, avoid the shampoo bottle with black pump, and stand the narrow-necked bottle upright.",
+    "Lift the brown bottle with red label, route it around the rectangular dark green shampoo bottle, then set the brown bottle with red label upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the shampoo bottle with black pump, and stand the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, carry it around the medium size shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Lift the narrow-necked bottle, guide it around the shampoo bottle, green with black cap, then stand the narrow-necked bottle upright.",
+    "Using the right arm, pick the plastic drink bottle up, keep clear of the rectangular green plastic shampoo dispenser, place the plastic drink bottle upright.",
+    "Guide the right arm to take the long thin bottle, bypass the shampoo bottle with matte black pump, and place the long thin bottle upright.",
+    "Using the right arm, lift the brown bottle with red label, keep clear of the dark green bottle with pump, and place the brown bottle with red label upright.",
+    "Use the right arm to grab the red-capped bottle, carry it away from the shampoo bottle, green with black cap, set the red-capped bottle upright.",
+    "With the right arm, take the Coca-Cola bottle up, steer past the hand-sized shampoo bottle, and place the Coca-Cola bottle upright.",
+    "With the right arm, pick the medium dark brown bottle up, avoid the shampoo bottle with black pump, and put the medium dark brown bottle upright.",
+    "Pick up the medium dark brown bottle with the right arm, keep it away from the plastic shampoo container, place the medium dark brown bottle upright.",
+    "Using the right arm, grasp the smooth bottle with red lid, move it past the green shampoo bottle, then stand the smooth bottle with red lid up.",
+    "With the right arm, take the dark drink bottle with logo, pass outside the rectangular green plastic shampoo dispenser, and put the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the rectangular green plastic shampoo dispenser, then set the dark drink bottle with logo upright.",
+    "Use the right arm to pick the bottle with white neck and red top up, avoid the rectangular dark green shampoo bottle, and place the bottle with white neck and red top upright.",
+    "With the right arm, secure the narrow-necked bottle, pass around the shampoo bottle with black pump, and set the narrow-necked bottle upright.",
+    "Use the right arm, raise the dark drink bottle with logo, keep distance from the shampoo bottle, green with black cap, then place the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, keep it from the shampoo bottle, green with black cap, and set the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, steer it around the shampoo bottle, green with black cap, and place the smooth bottle with red lid upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the plastic shampoo container, then place the bottle with ridges on bottom upright.",
+    "Take the bottle with white neck and red top, keep clear of the rectangular green plastic shampoo dispenser, and place the bottle with white neck and red top upright.",
+    "Take the bottle with white neck and red top, route it away from the plastic shampoo container, and place the bottle with white neck and red top upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the medium size shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Take the plastic drink bottle up, skirt the medium size shampoo bottle, and put the plastic drink bottle down upright.",
+    "With the right arm, take the Coca-Cola bottle, avoid the shampoo container with dispensing pump while moving, and set the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, route its path away from the shampoo bottle, green with black cap, then set the smooth bottle with red lid upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the shampoo bottle with matte black pump, place the dark drink bottle with logo upright.",
+    "Move the smooth bottle with red lid away from the hand-sized shampoo bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Use the right arm to lift the dark drink bottle with logo, avoid the shampoo bottle with black pump en route, and stand the dark drink bottle with logo up.",
+    "Pick up the bottle with white neck and red top, route it around the medium size shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Grab the brown bottle with red label, avoid the rectangular dark green shampoo bottle while moving, then place the brown bottle with red label upright.",
+    "Using the right arm, lift the brown bottle with red label, pass clear of the rectangular dark green shampoo bottle, then place the brown bottle with red label upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the rectangular dark green shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "With the right arm, pick up the red-capped bottle, steer away from the dark green bottle with pump, and stand the red-capped bottle up.",
+    "With the right arm, lift the dark drink bottle with logo, keep it away from the green shampoo bottle, place the dark drink bottle with logo upright.",
+    "Grab the red-capped bottle, keep it away from the hand-sized shampoo bottle, and put the red-capped bottle down upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the rectangular green plastic shampoo dispenser, and set the smooth bottle with red lid upright.",
+    "Grip the dark drink bottle with logo with the right arm, keep distance from the rectangular green plastic shampoo dispenser, then set the dark drink bottle with logo upright.",
+    "Have the right arm grasp the smooth bottle with red lid, avoid the dark green bottle with pump while moving, and set the smooth bottle with red lid upright.",
+    "Direct the right arm to pick the dark drink bottle with logo up, avoid the rectangular dark green shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Lift the dark drink bottle with logo, route it around the medium size shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, move it without nearing the shampoo bottle with black pump, and stand the hand-sized soda bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the dark green bottle with pump, then stand the medium dark brown bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the medium size shampoo bottle, then stand the dark drink bottle with logo upright.",
+    "Using the right arm, pick the hand-sized soda bottle up, keep clear of the shampoo bottle, green with black cap, place the hand-sized soda bottle upright.",
+    "Guide the right arm to take the narrow-necked bottle, bypass the plastic shampoo container, and place the narrow-necked bottle upright.",
+    "Using the right arm, lift the hand-sized soda bottle, keep clear of the shampoo bottle, green with black cap, and place the hand-sized soda bottle upright.",
+    "Use the right arm to grab the hand-sized soda bottle, carry it away from the shampoo container with dispensing pump, set the hand-sized soda bottle upright.",
+    "With the right arm, take the brown bottle with red label up, steer past the plastic shampoo container, and place the brown bottle with red label upright.",
+    "With the right arm, pick the plastic drink bottle up, avoid the green shampoo bottle, and put the plastic drink bottle upright.",
+    "Pick up the brown bottle with red label with the right arm, keep it away from the rectangular green plastic shampoo dispenser, place the brown bottle with red label upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Using the right arm, grab the brown bottle, move around the green bottle with pump top, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the dark green pump shampoo bottle, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the green bottle with pump top, then place the brown bottle upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "With the right arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, then set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the green bottle with pump top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the green bottle with pump top, then set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the right arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the dark green pump shampoo bottle, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "With the right arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, then set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the right arm to grab the brown bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "Use the right arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Using the right arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "With the right arm, grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the right arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "Use the right arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Using the right arm, grab the bottle with red screw cap, move around the green bottle with pump top, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode91.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..b83de2468fb432d632a9bc7c8b1b38e061157c45
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the dark drink bottle with logo, keep it away from the smooth white shampoo dispenser, place the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, keep it from the hand-sized shampoo bottle, and set the brown bottle with red label upright.",
+    "Lift the bottle with white neck and red top, route it around the white body pink flip cap bottle, then set the bottle with white neck and red top upright.",
+    "Take the hand-sized soda bottle, route it away from the pink-topped shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the pink-topped shampoo bottle, then place the Coca-Cola bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the medium oval plastic shampoo container, then stand the dark drink bottle with logo upright.",
+    "Lift the red-capped bottle, keep its path clear of the hand-sized shampoo bottle, then set the red-capped bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the plastic shampoo container, and put the medium dark brown bottle down upright.",
+    "With the left arm, take the plastic drink bottle up, steer past the medium shampoo bottle, and place the plastic drink bottle upright.",
+    "Use the left arm to lift the red-capped bottle, avoid the medium shampoo bottle en route, and stand the red-capped bottle up.",
+    "With the left arm, pick up the red-capped bottle, steer away from the white body pink flip cap bottle, and stand the red-capped bottle up.",
+    "Pick the red-capped bottle up, keep its path clear of the white shampoo bottle, place the red-capped bottle upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the smooth white shampoo dispenser, and place the red-capped bottle upright.",
+    "Take the Coca-Cola bottle, move it without nearing the shampoo bottle with pink cap, and stand the Coca-Cola bottle upright.",
+    "Take the red-capped bottle up, skirt the oval-shaped shampoo bottle, and put the red-capped bottle down upright.",
+    "Lift the hand-sized soda bottle, route its path away from the oval-shaped shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Grab the medium dark brown bottle, carry it around the shampoo dispenser with flat base, then stand the medium dark brown bottle upright.",
+    "Pick up the plastic drink bottle with the left arm, keep it away from the shampoo dispenser with flat base, place the plastic drink bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the glossy white shampoo bottle, and put the narrow-necked bottle upright.",
+    "Using the left arm, lift the red-capped bottle, keep clear of the hand-sized shampoo bottle, and place the red-capped bottle upright.",
+    "Lift the hand-sized soda bottle, keep its path away from the medium shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the medium shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Move the medium dark brown bottle from its spot, skirt the oval-shaped shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, pass clear of the white body pink flip cap bottle, then place the bottle with ridges on bottom upright.",
+    "With the left arm, take the medium dark brown bottle, pass outside the medium shampoo bottle, and put the medium dark brown bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the medium shampoo bottle, then set the long thin bottle upright.",
+    "Pick up the plastic drink bottle, route it around the oval-shaped shampoo bottle, then stand the plastic drink bottle upright.",
+    "Grab the long thin bottle, move it without crossing the white shampoo bottle, then place the long thin bottle upright.",
+    "Direct the left arm to pick the bottle with ridges on bottom up, avoid the oval-shaped shampoo bottle, and stand the bottle with ridges on bottom upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the medium shampoo bottle, and set the bottle with white neck and red top upright.",
+    "With the left arm, take the Coca-Cola bottle, avoid the white body pink flip cap bottle while moving, and set the Coca-Cola bottle upright.",
+    "Use the left arm to grab the Coca-Cola bottle, carry it away from the white shampoo bottle, set the Coca-Cola bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the medium shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the plastic drink bottle up, keep clear of the plastic shampoo container, place the plastic drink bottle upright.",
+    "Move the dark drink bottle with logo away from the plastic shampoo container as you lift, then place the dark drink bottle with logo upright.",
+    "With the left arm, secure the brown bottle with red label, pass around the plastic shampoo container, and set the brown bottle with red label upright.",
+    "Guide the left arm to take the brown bottle with red label, bypass the white shampoo bottle, and place the brown bottle with red label upright.",
+    "Grab the dark drink bottle with logo, steer it around the shampoo bottle with pink cap, and place the dark drink bottle with logo upright.",
+    "Have the left arm grasp the long thin bottle, avoid the shampoo dispenser with flat base while moving, and set the long thin bottle upright.",
+    "Using the left arm, grasp the long thin bottle, move it past the plastic shampoo container, then stand the long thin bottle up.",
+    "With the left arm, lift the long thin bottle, keep it away from the smooth white shampoo dispenser, place the long thin bottle upright.",
+    "Grab the plastic drink bottle, keep it from the shampoo dispenser with flat base, and set the plastic drink bottle upright.",
+    "Lift the medium dark brown bottle, route it around the hand-sized shampoo bottle, then set the medium dark brown bottle upright.",
+    "Take the dark drink bottle with logo, route it away from the shampoo bottle with pink cap, and place the dark drink bottle with logo upright.",
+    "Use the left arm, raise the bottle with white neck and red top, keep distance from the glossy white shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Lift the red-capped bottle, guide it around the pink-topped shampoo bottle, then stand the red-capped bottle upright.",
+    "Lift the red-capped bottle, keep its path clear of the white body pink flip cap bottle, then set the red-capped bottle upright.",
+    "Grab the dark drink bottle with logo, keep it away from the shampoo bottle with pink cap, and put the dark drink bottle with logo down upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the oval-shaped shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Use the left arm to lift the red-capped bottle, avoid the medium shampoo bottle en route, and stand the red-capped bottle up.",
+    "With the left arm, pick up the long thin bottle, steer away from the oval-shaped shampoo bottle, and stand the long thin bottle up.",
+    "Pick the narrow-necked bottle up, keep its path clear of the plastic shampoo container, place the narrow-necked bottle upright.",
+    "Use the left arm to pick the bottle with ridges on bottom up, avoid the glossy white shampoo bottle, and place the bottle with ridges on bottom upright.",
+    "Take the dark drink bottle with logo, move it without nearing the medium oval plastic shampoo container, and stand the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle up, skirt the shampoo dispenser with flat base, and put the hand-sized soda bottle down upright.",
+    "Lift the medium dark brown bottle, route its path away from the pink-topped shampoo bottle, then set the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, carry it around the medium oval plastic shampoo container, then stand the hand-sized soda bottle upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the medium shampoo bottle, place the long thin bottle upright.",
+    "With the left arm, pick the long thin bottle up, avoid the medium oval plastic shampoo container, and put the long thin bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the shampoo dispenser with flat base, and place the Coca-Cola bottle upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the medium oval plastic shampoo container, and set the Coca-Cola bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the white body pink flip cap bottle, and place the hand-sized soda bottle upright.",
+    "Move the bottle with ridges on bottom from its spot, skirt the smooth white shampoo dispenser, and stand the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the medium shampoo bottle, then place the smooth bottle with red lid upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the shampoo bottle with pink cap, and put the brown bottle with red label upright.",
+    "Grip the dark drink bottle with logo with the left arm, keep distance from the hand-sized shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Pick up the medium dark brown bottle, route it around the glossy white shampoo bottle, then stand the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, move it without crossing the white shampoo bottle, then place the medium dark brown bottle upright.",
+    "Direct the left arm to pick the Coca-Cola bottle up, avoid the medium shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Pick up the medium dark brown bottle, swing wide around the smooth white shampoo dispenser, and set the medium dark brown bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, avoid the white shampoo bottle while moving, and set the Coca-Cola bottle upright.",
+    "Use the left arm to grab the smooth bottle with red lid, carry it away from the shampoo bottle with pink cap, set the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, avoid the smooth white shampoo dispenser while moving, then place the bottle with white neck and red top upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the white body pink flip cap bottle, place the long thin bottle upright.",
+    "Move the red-capped bottle away from the white body pink flip cap bottle as you lift, then place the red-capped bottle upright.",
+    "With the left arm, secure the narrow-necked bottle, pass around the medium oval plastic shampoo container, and set the narrow-necked bottle upright.",
+    "Guide the left arm to take the long thin bottle, bypass the medium oval plastic shampoo container, and place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the plastic shampoo container, and place the bottle with white neck and red top upright.",
+    "Have the left arm grasp the hand-sized soda bottle, avoid the hand-sized shampoo bottle while moving, and set the hand-sized soda bottle upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the pink-topped shampoo bottle, then stand the medium dark brown bottle up.",
+    "With the left arm, lift the red-capped bottle, keep it away from the pink-topped shampoo bottle, place the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the oval-shaped shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Lift the long thin bottle, route it around the oval-shaped shampoo bottle, then set the long thin bottle upright.",
+    "Take the red-capped bottle, route it away from the smooth white shampoo dispenser, and place the red-capped bottle upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the shampoo bottle with pink cap, then place the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, guide it around the shampoo bottle with pink cap, then stand the long thin bottle upright.",
+    "Lift the plastic drink bottle, keep its path clear of the shampoo bottle with pink cap, then set the plastic drink bottle upright.",
+    "Grab the brown bottle with red label, keep it away from the shampoo bottle with pink cap, and put the brown bottle with red label down upright.",
+    "With the left arm, take the brown bottle with red label up, steer past the white body pink flip cap bottle, and place the brown bottle with red label upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the medium oval plastic shampoo container en route, and stand the Coca-Cola bottle up.",
+    "With the left arm, pick up the long thin bottle, steer away from the glossy white shampoo bottle, and stand the long thin bottle up.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the white body pink flip cap bottle, place the dark drink bottle with logo upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the medium shampoo bottle, and place the long thin bottle upright.",
+    "Take the bottle with white neck and red top, move it without nearing the shampoo dispenser with flat base, and stand the bottle with white neck and red top upright.",
+    "Take the red-capped bottle up, skirt the shampoo bottle with pink cap, and put the red-capped bottle down upright.",
+    "Lift the dark drink bottle with logo, route its path away from the shampoo bottle with pink cap, then set the dark drink bottle with logo upright.",
+    "Grab the medium dark brown bottle, carry it around the white body pink flip cap bottle, then stand the medium dark brown bottle upright.",
+    "Pick up the red-capped bottle with the left arm, keep it away from the shampoo bottle with pink cap, place the red-capped bottle upright.",
+    "With the left arm, pick the narrow-necked bottle up, avoid the plastic shampoo container, and put the narrow-necked bottle upright.",
+    "Using the left arm, lift the Coca-Cola bottle, keep clear of the oval-shaped shampoo bottle, and place the Coca-Cola bottle upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the Dove shampoo bottle, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the bottle for holding shampoo, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the bottle for holding shampoo, and place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode92.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a7b618a020fed8761c2ca0ff7bb238a315d278
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with white neck and red top, route its path away from the shampoo bottle with pink cap, then set the bottle with white neck and red top upright.",
+    "Pick up the hand-sized soda bottle, swing wide around the pink-topped shampoo bottle, and set the hand-sized soda bottle upright.",
+    "Pick the Coca-Cola bottle up, keep its path clear of the pink-topped shampoo bottle, place the Coca-Cola bottle upright.",
+    "With the left arm, pick up the Coca-Cola bottle, steer away from the oval-shaped shampoo bottle, and stand the Coca-Cola bottle up.",
+    "Grip the dark drink bottle with logo with the left arm, keep distance from the pink-topped shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Grab the brown bottle with red label, carry it around the medium oval plastic shampoo container, then stand the brown bottle with red label upright.",
+    "Lift the medium dark brown bottle, guide it around the white body pink flip cap bottle, then stand the medium dark brown bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the medium oval plastic shampoo container, place the bottle with white neck and red top upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the glossy white shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the white body pink flip cap bottle, and place the bottle with ridges on bottom upright.",
+    "Take the red-capped bottle, keep clear of the shampoo dispenser with flat base, and place the red-capped bottle upright.",
+    "Lift the red-capped bottle, route it around the pink-topped shampoo bottle, then set the red-capped bottle upright.",
+    "Pick up the smooth bottle with red lid, route it around the shampoo dispenser with flat base, then stand the smooth bottle with red lid upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the smooth white shampoo dispenser, then stand the bottle with ridges on bottom up.",
+    "With the left arm, pick the red-capped bottle up, avoid the medium oval plastic shampoo container, and put the red-capped bottle upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the smooth white shampoo dispenser, and place the Coca-Cola bottle upright.",
+    "Grab the smooth bottle with red lid, keep it from the white body pink flip cap bottle, and set the smooth bottle with red lid upright.",
+    "Take the long thin bottle, route it away from the shampoo dispenser with flat base, and place the long thin bottle upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the smooth white shampoo dispenser, then place the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the red-capped bottle up, avoid the shampoo dispenser with flat base, and place the red-capped bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, pass clear of the shampoo bottle with pink cap, then place the plastic drink bottle upright.",
+    "Have the left arm grasp the narrow-necked bottle, avoid the medium oval plastic shampoo container while moving, and set the narrow-necked bottle upright.",
+    "With the left arm, secure the long thin bottle, pass around the shampoo dispenser with flat base, and set the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the white body pink flip cap bottle, and put the bottle with white neck and red top down upright.",
+    "Lift the brown bottle with red label, keep its path clear of the white body pink flip cap bottle, then set the brown bottle with red label upright.",
+    "Using the left arm, pick the medium dark brown bottle up, keep clear of the medium shampoo bottle, place the medium dark brown bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the medium oval plastic shampoo container, and put the brown bottle with red label upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the medium shampoo bottle, and stand the long thin bottle upright.",
+    "Use the left arm to lift the narrow-necked bottle, avoid the shampoo dispenser with flat base en route, and stand the narrow-necked bottle up.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the smooth white shampoo dispenser, place the smooth bottle with red lid upright.",
+    "Move the narrow-necked bottle from its spot, skirt the shampoo dispenser with flat base, and stand the narrow-necked bottle upright.",
+    "With the left arm, take the long thin bottle up, steer past the glossy white shampoo bottle, and place the long thin bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the shampoo bottle with pink cap, and stand the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the medium shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Move the bottle with ridges on bottom away from the plastic shampoo container as you lift, then place the bottle with ridges on bottom upright.",
+    "Take the bottle with ridges on bottom up, skirt the medium shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "With the left arm, take the Coca-Cola bottle, avoid the hand-sized shampoo bottle while moving, and set the Coca-Cola bottle upright.",
+    "Use the left arm to grab the bottle with ridges on bottom, carry it away from the white body pink flip cap bottle, set the bottle with ridges on bottom upright.",
+    "Grab the brown bottle with red label, steer it around the pink-topped shampoo bottle, and place the brown bottle with red label upright.",
+    "Grab the dark drink bottle with logo, avoid the medium shampoo bottle while moving, then place the dark drink bottle with logo upright.",
+    "Lift the brown bottle with red label, route its path away from the hand-sized shampoo bottle, then set the brown bottle with red label upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the medium oval plastic shampoo container, and set the smooth bottle with red lid upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the glossy white shampoo bottle, place the hand-sized soda bottle upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the medium oval plastic shampoo container, and stand the bottle with white neck and red top up.",
+    "Grip the narrow-necked bottle with the left arm, keep distance from the pink-topped shampoo bottle, then set the narrow-necked bottle upright.",
+    "Grab the dark drink bottle with logo, carry it around the shampoo bottle with pink cap, then stand the dark drink bottle with logo upright.",
+    "Lift the hand-sized soda bottle, guide it around the plastic shampoo container, then stand the hand-sized soda bottle upright.",
+    "Pick up the medium dark brown bottle with the left arm, keep it away from the hand-sized shampoo bottle, place the medium dark brown bottle upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the oval-shaped shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the medium shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Take the hand-sized soda bottle, keep clear of the white body pink flip cap bottle, and place the hand-sized soda bottle upright.",
+    "Lift the long thin bottle, route it around the medium shampoo bottle, then set the long thin bottle upright.",
+    "Pick up the bottle with ridges on bottom, route it around the plastic shampoo container, then stand the bottle with ridges on bottom upright.",
+    "Using the left arm, grasp the plastic drink bottle, move it past the shampoo bottle with pink cap, then stand the plastic drink bottle up.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the white body pink flip cap bottle, and put the smooth bottle with red lid upright.",
+    "Guide the left arm to take the hand-sized soda bottle, bypass the shampoo bottle with pink cap, and place the hand-sized soda bottle upright.",
+    "Grab the brown bottle with red label, keep it from the oval-shaped shampoo bottle, and set the brown bottle with red label upright.",
+    "Take the smooth bottle with red lid, route it away from the shampoo dispenser with flat base, and place the smooth bottle with red lid upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the smooth white shampoo dispenser, then place the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the pink-topped shampoo bottle, and place the narrow-necked bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the smooth white shampoo dispenser, then place the medium dark brown bottle upright.",
+    "Have the left arm grasp the Coca-Cola bottle, avoid the shampoo dispenser with flat base while moving, and set the Coca-Cola bottle upright.",
+    "With the left arm, secure the plastic drink bottle, pass around the pink-topped shampoo bottle, and set the plastic drink bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the smooth white shampoo dispenser, and put the narrow-necked bottle down upright.",
+    "Lift the plastic drink bottle, keep its path clear of the oval-shaped shampoo bottle, then set the plastic drink bottle upright.",
+    "Using the left arm, pick the long thin bottle up, keep clear of the medium oval plastic shampoo container, place the long thin bottle upright.",
+    "With the left arm, take the bottle with white neck and red top, pass outside the white shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the hand-sized shampoo bottle, and stand the red-capped bottle upright.",
+    "Use the left arm to lift the hand-sized soda bottle, avoid the medium shampoo bottle en route, and stand the hand-sized soda bottle up.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the oval-shaped shampoo bottle, place the hand-sized soda bottle upright.",
+    "Move the red-capped bottle from its spot, skirt the smooth white shampoo dispenser, and stand the red-capped bottle upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the white body pink flip cap bottle, and place the bottle with white neck and red top upright.",
+    "Take the hand-sized soda bottle, move it without nearing the shampoo bottle with pink cap, and stand the hand-sized soda bottle upright.",
+    "Grab the dark drink bottle with logo, move it without crossing the white body pink flip cap bottle, then place the dark drink bottle with logo upright.",
+    "Move the hand-sized soda bottle away from the white shampoo bottle as you lift, then place the hand-sized soda bottle upright.",
+    "Take the dark drink bottle with logo up, skirt the plastic shampoo container, and put the dark drink bottle with logo down upright.",
+    "With the left arm, take the brown bottle with red label, avoid the white shampoo bottle while moving, and set the brown bottle with red label upright.",
+    "Use the left arm to grab the narrow-necked bottle, carry it away from the white shampoo bottle, set the narrow-necked bottle upright.",
+    "Grab the plastic drink bottle, steer it around the glossy white shampoo bottle, and place the plastic drink bottle upright.",
+    "Grab the bottle with white neck and red top, avoid the white body pink flip cap bottle while moving, then place the bottle with white neck and red top upright.",
+    "Lift the plastic drink bottle, route its path away from the white shampoo bottle, then set the plastic drink bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the medium shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Pick the medium dark brown bottle up, keep its path clear of the pink-topped shampoo bottle, place the medium dark brown bottle upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the hand-sized shampoo bottle, and stand the bottle with white neck and red top up.",
+    "Grip the brown bottle with red label with the left arm, keep distance from the oval-shaped shampoo bottle, then set the brown bottle with red label upright.",
+    "Grab the hand-sized soda bottle, carry it around the pink-topped shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Lift the narrow-necked bottle, guide it around the medium shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the smooth white shampoo dispenser, place the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, keep its path away from the glossy white shampoo bottle, and set the Coca-Cola bottle upright.",
+    "Using the left arm, lift the plastic drink bottle, keep clear of the oval-shaped shampoo bottle, and place the plastic drink bottle upright.",
+    "Take the medium dark brown bottle, keep clear of the medium oval plastic shampoo container, and place the medium dark brown bottle upright.",
+    "Lift the hand-sized soda bottle, route it around the hand-sized shampoo bottle, then set the hand-sized soda bottle upright.",
+    "Pick up the long thin bottle, route it around the plastic shampoo container, then stand the long thin bottle upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the glossy white shampoo bottle, then stand the hand-sized soda bottle up.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the white shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Guide the left arm to take the bottle with white neck and red top, bypass the oval-shaped shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Grab the brown bottle with red label, keep it from the white shampoo bottle, and set the brown bottle with red label upright.",
+    "Take the hand-sized soda bottle, route it away from the smooth white shampoo dispenser, and place the hand-sized soda bottle upright.",
+    "Use the left arm, raise the bottle with ridges on bottom, keep distance from the pink-topped shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the medium shampoo bottle, and place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle with Dove logo, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the Dove shampoo bottle, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the Dove shampoo bottle, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle with Dove logo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the Dove shampoo bottle, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the Dove shampoo bottle, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the bottle for holding shampoo, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the bottle for holding shampoo, and place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the bottle for holding shampoo, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the bottle for holding shampoo, and set the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the Dove shampoo bottle, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the Dove shampoo bottle, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the Dove shampoo bottle, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the bottle for holding shampoo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the bottle for holding shampoo, and place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle with Dove logo, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the bottle for holding shampoo, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle with Dove logo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the bottle for holding shampoo, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the Dove shampoo bottle, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle with Dove logo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the Dove shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the bottle for holding shampoo, and set the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle with Dove logo, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the bottle for holding shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle with Dove logo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo bottle with Dove logo, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the Dove shampoo bottle, and place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the Dove shampoo bottle, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle with Dove logo, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the bottle for holding shampoo, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the Dove shampoo bottle, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle with Dove logo, and place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode93.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a7e0d046b8b9c8a6dcfd04518f2c890cb570df
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red-capped bottle, move it without crossing the curved light blue shampoo bottle, then place the red-capped bottle upright.",
+    "Take the smooth bottle with red lid, route it away from the bottle of shampoo, and place the smooth bottle with red lid upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the bottle of shampoo, and place the bottle with ridges on bottom upright.",
+    "Pick up the brown bottle with red label with the left arm, keep it away from the bottle light blue rounded shape, place the brown bottle with red label upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the bottle of shampoo, then set the hand-sized soda bottle upright.",
+    "With the left arm, lift the bottle with white neck and red top, keep it away from the bottle of shampoo, place the bottle with white neck and red top upright.",
+    "Take the bottle with ridges on bottom, keep clear of the light blue shampoo bottle small size, and place the bottle with ridges on bottom upright.",
+    "Take the Coca-Cola bottle, move it without nearing the shampoo bottle tapered toward cap, and stand the Coca-Cola bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the shampoo bottle with matte plastic, then set the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the narrow-necked bottle up, keep clear of the blue shampoo bottle slender design, place the narrow-necked bottle upright.",
+    "With the left arm, take the long thin bottle, avoid the shampoo bottle with white cap while moving, and set the long thin bottle upright.",
+    "With the left arm, take the red-capped bottle, pass outside the shampoo bottle with matte plastic, and put the red-capped bottle upright.",
+    "Lift the plastic drink bottle, guide it around the blue shampoo bottle, then stand the plastic drink bottle upright.",
+    "Pick up the smooth bottle with red lid, swing wide around the bottle light blue rounded shape, and set the smooth bottle with red lid upright.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the bottle of shampoo while moving, and set the dark drink bottle with logo upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the hand-sized shampoo bottle, then stand the hand-sized soda bottle up.",
+    "Grab the plastic drink bottle, steer it around the bottle of shampoo, and place the plastic drink bottle upright.",
+    "Grab the Coca-Cola bottle, carry it around the curved light blue shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the shampoo bottle with matte plastic, then place the medium dark brown bottle upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the small smooth shampoo bottle, and put the bottle with white neck and red top upright.",
+    "Move the red-capped bottle from its spot, skirt the shampoo bottle tapered toward cap, and stand the red-capped bottle upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the light blue shampoo bottle small size, set the brown bottle with red label upright.",
+    "Pick up the bottle with ridges on bottom, route it around the light blue shampoo bottle small size, then stand the bottle with ridges on bottom upright.",
+    "Take the long thin bottle up, skirt the bottle of shampoo, and put the long thin bottle down upright.",
+    "Direct the left arm to pick the smooth bottle with red lid up, avoid the curved light blue shampoo bottle, and stand the smooth bottle with red lid upright.",
+    "Use the left arm to lift the smooth bottle with red lid, avoid the small smooth shampoo bottle en route, and stand the smooth bottle with red lid up.",
+    "With the left arm, secure the dark drink bottle with logo, pass around the blue shampoo bottle, and set the dark drink bottle with logo upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the small smooth shampoo bottle, and stand the bottle with white neck and red top up.",
+    "Lift the medium dark brown bottle, keep its path away from the shampoo bottle with matte plastic, and set the medium dark brown bottle upright.",
+    "Grab the bottle with white neck and red top, keep it from the light blue shampoo bottle small size, and set the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, avoid the shampoo bottle with white cap while moving, then place the bottle with ridges on bottom upright.",
+    "Pick the brown bottle with red label up, keep its path clear of the blue shampoo bottle slender design, place the brown bottle with red label upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the shampoo bottle with white cap, then place the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, keep it away from the blue shampoo bottle slender design, and put the long thin bottle down upright.",
+    "Guide the left arm to take the smooth bottle with red lid, bypass the blue shampoo bottle slender design, and place the smooth bottle with red lid upright.",
+    "Lift the medium dark brown bottle, route it around the blue shampoo bottle slender design, then set the medium dark brown bottle upright.",
+    "Move the smooth bottle with red lid away from the small smooth shampoo bottle as you lift, then place the smooth bottle with red lid upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle tapered toward cap, then set the dark drink bottle with logo upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the shampoo bottle flat bottom edge, and place the dark drink bottle with logo upright.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the shampoo bottle tapered toward cap, and place the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, move it without crossing the bottle of shampoo, then place the bottle with ridges on bottom upright.",
+    "Take the brown bottle with red label, route it away from the bottle of shampoo, and place the brown bottle with red label upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the shampoo bottle flat bottom edge, and place the hand-sized soda bottle upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the blue shampoo bottle, place the bottle with white neck and red top upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the small smooth shampoo bottle, then set the smooth bottle with red lid upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the small smooth shampoo bottle, place the brown bottle with red label upright.",
+    "Take the hand-sized soda bottle, keep clear of the light blue shampoo bottle small size, and place the hand-sized soda bottle upright.",
+    "Take the smooth bottle with red lid, move it without nearing the shampoo bottle tapered toward cap, and stand the smooth bottle with red lid upright.",
+    "Lift the dark drink bottle with logo, route its path away from the blue shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the bottle light blue rounded shape, place the hand-sized soda bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, avoid the hand-sized shampoo bottle while moving, and set the Coca-Cola bottle upright.",
+    "With the left arm, take the Coca-Cola bottle, pass outside the hand-sized shampoo bottle, and put the Coca-Cola bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the light blue shampoo bottle small size, then stand the dark drink bottle with logo upright.",
+    "Pick up the long thin bottle, swing wide around the light blue shampoo bottle small size, and set the long thin bottle upright.",
+    "Have the left arm grasp the bottle with white neck and red top, avoid the bottle light blue rounded shape while moving, and set the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the shampoo bottle with white cap, then stand the hand-sized soda bottle up.",
+    "Grab the hand-sized soda bottle, steer it around the light blue shampoo bottle small size, and place the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, carry it around the bottle of shampoo, then stand the narrow-necked bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the light blue shampoo bottle small size, then place the narrow-necked bottle upright.",
+    "With the left arm, pick the bottle with white neck and red top up, avoid the shampoo bottle tapered toward cap, and put the bottle with white neck and red top upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the small smooth shampoo bottle, and stand the Coca-Cola bottle upright.",
+    "Use the left arm to grab the long thin bottle, carry it away from the shampoo bottle with white cap, set the long thin bottle upright.",
+    "Pick up the narrow-necked bottle, route it around the shampoo bottle flat bottom edge, then stand the narrow-necked bottle upright.",
+    "Take the bottle with white neck and red top up, skirt the small smooth shampoo bottle, and put the bottle with white neck and red top down upright.",
+    "Direct the left arm to pick the bottle with white neck and red top up, avoid the bottle light blue rounded shape, and stand the bottle with white neck and red top upright.",
+    "Use the left arm to lift the dark drink bottle with logo, avoid the hand-sized shampoo bottle en route, and stand the dark drink bottle with logo up.",
+    "With the left arm, secure the plastic drink bottle, pass around the blue shampoo bottle slender design, and set the plastic drink bottle upright.",
+    "With the left arm, pick up the long thin bottle, steer away from the light blue shampoo bottle small size, and stand the long thin bottle up.",
+    "Lift the bottle with white neck and red top, keep its path away from the bottle light blue rounded shape, and set the bottle with white neck and red top upright.",
+    "Grab the smooth bottle with red lid, keep it from the light blue shampoo bottle small size, and set the smooth bottle with red lid upright.",
+    "Grab the long thin bottle, avoid the shampoo bottle with matte plastic while moving, then place the long thin bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the bottle of shampoo, place the long thin bottle upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the bottle of shampoo, then place the long thin bottle upright.",
+    "Grab the hand-sized soda bottle, keep it away from the blue shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Guide the left arm to take the Coca-Cola bottle, bypass the blue shampoo bottle, and place the Coca-Cola bottle upright.",
+    "Lift the smooth bottle with red lid, route it around the shampoo bottle with matte plastic, then set the smooth bottle with red lid upright.",
+    "Move the medium dark brown bottle away from the small smooth shampoo bottle as you lift, then place the medium dark brown bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the blue shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the long thin bottle up, avoid the small smooth shampoo bottle, and place the long thin bottle upright.",
+    "With the left arm, take the brown bottle with red label up, steer past the blue shampoo bottle slender design, and place the brown bottle with red label upright.",
+    "Grab the smooth bottle with red lid, move it without crossing the shampoo bottle with matte plastic, then place the smooth bottle with red lid upright.",
+    "Take the dark drink bottle with logo, route it away from the bottle of shampoo, and place the dark drink bottle with logo upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, keep clear of the bottle of shampoo, and place the bottle with ridges on bottom upright.",
+    "Pick up the Coca-Cola bottle with the left arm, keep it away from the bottle light blue rounded shape, place the Coca-Cola bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the shampoo bottle flat bottom edge, then set the long thin bottle upright.",
+    "With the left arm, lift the red-capped bottle, keep it away from the blue shampoo bottle slender design, place the red-capped bottle upright.",
+    "Take the bottle with ridges on bottom, keep clear of the light blue shampoo bottle small size, and place the bottle with ridges on bottom upright.",
+    "Take the hand-sized soda bottle, move it without nearing the bottle light blue rounded shape, and stand the hand-sized soda bottle upright.",
+    "Lift the bottle with ridges on bottom, route its path away from the shampoo bottle flat bottom edge, then set the bottle with ridges on bottom upright.",
+    "Using the left arm, pick the Coca-Cola bottle up, keep clear of the hand-sized shampoo bottle, place the Coca-Cola bottle upright.",
+    "With the left arm, take the long thin bottle, avoid the small smooth shampoo bottle while moving, and set the long thin bottle upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the shampoo bottle with white cap, and put the dark drink bottle with logo upright.",
+    "Lift the brown bottle with red label, guide it around the bottle light blue rounded shape, then stand the brown bottle with red label upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the blue shampoo bottle slender design, and set the Coca-Cola bottle upright.",
+    "Have the left arm grasp the long thin bottle, avoid the shampoo bottle tapered toward cap while moving, and set the long thin bottle upright.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the small smooth shampoo bottle, then stand the bottle with ridges on bottom up.",
+    "Grab the smooth bottle with red lid, steer it around the bottle light blue rounded shape, and place the smooth bottle with red lid upright.",
+    "Grab the bottle with ridges on bottom, carry it around the hand-sized shampoo bottle, then stand the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the shampoo bottle with matte plastic, then place the brown bottle with red label upright.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the light blue shampoo bottle small size, and put the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the oval light blue shampoo container, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode94.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a5714f9112c322ed9523002866491d8d0e8b47
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic drink bottle, route it around the small smooth shampoo bottle, then stand the plastic drink bottle upright.",
+    "Pick up the Coca-Cola bottle, swing wide around the light blue shampoo bottle small size, and set the Coca-Cola bottle upright.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the shampoo bottle tapered toward cap while moving, and set the smooth bottle with red lid upright.",
+    "Guide the left arm to take the hand-sized soda bottle, bypass the shampoo bottle with white cap, and place the hand-sized soda bottle upright.",
+    "Grab the narrow-necked bottle, steer it around the shampoo bottle flat bottom edge, and place the narrow-necked bottle upright.",
+    "With the left arm, pick the hand-sized soda bottle up, avoid the shampoo bottle flat bottom edge, and put the hand-sized soda bottle upright.",
+    "Grab the long thin bottle, carry it around the blue shampoo bottle, then stand the long thin bottle upright.",
+    "With the left arm, pick up the hand-sized soda bottle, steer away from the bottle light blue rounded shape, and stand the hand-sized soda bottle up.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the bottle light blue rounded shape, place the dark drink bottle with logo upright.",
+    "Take the Coca-Cola bottle, keep clear of the small smooth shampoo bottle, and place the Coca-Cola bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the blue shampoo bottle slender design, and put the plastic drink bottle upright.",
+    "Lift the plastic drink bottle, keep its path away from the blue shampoo bottle, and set the plastic drink bottle upright.",
+    "Lift the brown bottle with red label, route it around the small smooth shampoo bottle, then set the brown bottle with red label upright.",
+    "Move the hand-sized soda bottle from its spot, skirt the blue shampoo bottle slender design, and stand the hand-sized soda bottle upright.",
+    "Take the bottle with ridges on bottom, move it without nearing the shampoo bottle with matte plastic, and stand the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the hand-sized shampoo bottle, then place the brown bottle with red label upright.",
+    "Use the left arm, raise the medium dark brown bottle, keep distance from the bottle of shampoo, then place the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, keep it away from the shampoo bottle tapered toward cap, and put the medium dark brown bottle down upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the shampoo bottle flat bottom edge, then set the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the shampoo bottle with matte plastic, set the brown bottle with red label upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the shampoo bottle with white cap, place the bottle with ridges on bottom upright.",
+    "Using the left arm, grasp the bottle with white neck and red top, move it past the light blue shampoo bottle small size, then stand the bottle with white neck and red top up.",
+    "With the left arm, take the smooth bottle with red lid up, steer past the shampoo bottle flat bottom edge, and place the smooth bottle with red lid upright.",
+    "Lift the plastic drink bottle, guide it around the blue shampoo bottle slender design, then stand the plastic drink bottle upright.",
+    "Grab the long thin bottle, keep it from the blue shampoo bottle slender design, and set the long thin bottle upright.",
+    "With the left arm, take the brown bottle with red label, avoid the shampoo bottle with white cap while moving, and set the brown bottle with red label upright.",
+    "Move the Coca-Cola bottle away from the curved light blue shampoo bottle as you lift, then place the Coca-Cola bottle upright.",
+    "Pick the long thin bottle up, keep its path clear of the bottle of shampoo, place the long thin bottle upright.",
+    "Grab the bottle with white neck and red top, move it without crossing the blue shampoo bottle, then place the bottle with white neck and red top upright.",
+    "Take the red-capped bottle, route it away from the hand-sized shampoo bottle, and place the red-capped bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the blue shampoo bottle while moving, then place the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the curved light blue shampoo bottle, and stand the red-capped bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the shampoo bottle tapered toward cap, and place the narrow-necked bottle upright.",
+    "Take the narrow-necked bottle up, skirt the hand-sized shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the curved light blue shampoo bottle, place the hand-sized soda bottle upright.",
+    "Use the left arm to lift the brown bottle with red label, avoid the light blue shampoo bottle small size en route, and stand the brown bottle with red label up.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the curved light blue shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Grip the bottle with ridges on bottom with the left arm, keep distance from the small smooth shampoo bottle, then set the bottle with ridges on bottom upright.",
+    "Lift the Coca-Cola bottle, route its path away from the shampoo bottle tapered toward cap, then set the Coca-Cola bottle upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the light blue shampoo bottle small size, and set the Coca-Cola bottle upright.",
+    "Pick up the brown bottle with red label, route it around the shampoo bottle flat bottom edge, then stand the brown bottle with red label upright.",
+    "Pick up the brown bottle with red label, swing wide around the bottle light blue rounded shape, and set the brown bottle with red label upright.",
+    "Have the left arm grasp the plastic drink bottle, avoid the blue shampoo bottle slender design while moving, and set the plastic drink bottle upright.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the blue shampoo bottle slender design, and place the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, steer it around the hand-sized shampoo bottle, and place the hand-sized soda bottle upright.",
+    "With the left arm, pick the bottle with ridges on bottom up, avoid the shampoo bottle with white cap, and put the bottle with ridges on bottom upright.",
+    "Grab the plastic drink bottle, carry it around the shampoo bottle with white cap, then stand the plastic drink bottle upright.",
+    "With the left arm, pick up the narrow-necked bottle, steer away from the shampoo bottle flat bottom edge, and stand the narrow-necked bottle up.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the blue shampoo bottle, place the bottle with white neck and red top upright.",
+    "Take the hand-sized soda bottle, keep clear of the bottle light blue rounded shape, and place the hand-sized soda bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the hand-sized shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Lift the plastic drink bottle, keep its path away from the shampoo bottle with matte plastic, and set the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, route it around the bottle of shampoo, then set the bottle with white neck and red top upright.",
+    "Move the dark drink bottle with logo from its spot, skirt the small smooth shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Take the plastic drink bottle, move it without nearing the blue shampoo bottle slender design, and stand the plastic drink bottle upright.",
+    "Using the left arm, lift the medium dark brown bottle, pass clear of the blue shampoo bottle slender design, then place the medium dark brown bottle upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the shampoo bottle with matte plastic, then place the narrow-necked bottle upright.",
+    "Grab the bottle with white neck and red top, keep it away from the shampoo bottle with white cap, and put the bottle with white neck and red top down upright.",
+    "Lift the dark drink bottle with logo, keep its path clear of the shampoo bottle tapered toward cap, then set the dark drink bottle with logo upright.",
+    "Use the left arm to grab the brown bottle with red label, carry it away from the bottle light blue rounded shape, set the brown bottle with red label upright.",
+    "With the left arm, lift the hand-sized soda bottle, keep it away from the shampoo bottle tapered toward cap, place the hand-sized soda bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the shampoo bottle with matte plastic, then stand the red-capped bottle up.",
+    "With the left arm, take the bottle with white neck and red top up, steer past the shampoo bottle flat bottom edge, and place the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, guide it around the blue shampoo bottle, then stand the narrow-necked bottle upright.",
+    "Grab the red-capped bottle, keep it from the blue shampoo bottle slender design, and set the red-capped bottle upright.",
+    "With the left arm, take the plastic drink bottle, avoid the blue shampoo bottle slender design while moving, and set the plastic drink bottle upright.",
+    "Move the bottle with white neck and red top away from the blue shampoo bottle slender design as you lift, then place the bottle with white neck and red top upright.",
+    "Pick the dark drink bottle with logo up, keep its path clear of the bottle of shampoo, place the dark drink bottle with logo upright.",
+    "Grab the narrow-necked bottle, move it without crossing the shampoo bottle flat bottom edge, then place the narrow-necked bottle upright.",
+    "Take the long thin bottle, route it away from the bottle of shampoo, and place the long thin bottle upright.",
+    "Grab the bottle with ridges on bottom, avoid the shampoo bottle with white cap while moving, then place the bottle with ridges on bottom upright.",
+    "Direct the left arm to pick the dark drink bottle with logo up, avoid the blue shampoo bottle slender design, and stand the dark drink bottle with logo upright.",
+    "Using the left arm, lift the brown bottle with red label, keep clear of the bottle light blue rounded shape, and place the brown bottle with red label upright.",
+    "Take the narrow-necked bottle up, skirt the curved light blue shampoo bottle, and put the narrow-necked bottle down upright.",
+    "Using the left arm, pick the red-capped bottle up, keep clear of the curved light blue shampoo bottle, place the red-capped bottle upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the blue shampoo bottle slender design en route, and stand the Coca-Cola bottle up.",
+    "Use the left arm to pick the hand-sized soda bottle up, avoid the blue shampoo bottle, and place the hand-sized soda bottle upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the bottle of shampoo, then set the hand-sized soda bottle upright.",
+    "Lift the medium dark brown bottle, route its path away from the shampoo bottle flat bottom edge, then set the medium dark brown bottle upright.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the bottle of shampoo, and set the Coca-Cola bottle upright.",
+    "Pick up the medium dark brown bottle, route it around the bottle light blue rounded shape, then stand the medium dark brown bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the shampoo bottle flat bottom edge, and set the bottle with white neck and red top upright.",
+    "Have the left arm grasp the red-capped bottle, avoid the shampoo bottle with white cap while moving, and set the red-capped bottle upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the curved light blue shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the plastic drink bottle, steer it around the bottle light blue rounded shape, and place the plastic drink bottle upright.",
+    "With the left arm, pick the red-capped bottle up, avoid the bottle light blue rounded shape, and put the red-capped bottle upright.",
+    "Grab the plastic drink bottle, carry it around the shampoo bottle with white cap, then stand the plastic drink bottle upright.",
+    "With the left arm, pick up the bottle with ridges on bottom, steer away from the hand-sized shampoo bottle, and stand the bottle with ridges on bottom up.",
+    "Pick up the plastic drink bottle with the left arm, keep it away from the blue shampoo bottle slender design, place the plastic drink bottle upright.",
+    "Take the bottle with white neck and red top, keep clear of the shampoo bottle tapered toward cap, and place the bottle with white neck and red top upright.",
+    "With the left arm, take the dark drink bottle with logo, pass outside the bottle light blue rounded shape, and put the dark drink bottle with logo upright.",
+    "Lift the bottle with white neck and red top, keep its path away from the shampoo bottle tapered toward cap, and set the bottle with white neck and red top upright.",
+    "Lift the brown bottle with red label, route it around the blue shampoo bottle slender design, then set the brown bottle with red label upright.",
+    "Move the narrow-necked bottle from its spot, skirt the curved light blue shampoo bottle, and stand the narrow-necked bottle upright.",
+    "Take the hand-sized soda bottle, move it without nearing the curved light blue shampoo bottle, and stand the hand-sized soda bottle upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the shampoo bottle with white cap, then place the brown bottle with red label upright.",
+    "Use the left arm, raise the Coca-Cola bottle, keep distance from the bottle light blue rounded shape, then place the Coca-Cola bottle upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle with white cap, and put the narrow-necked bottle down upright.",
+    "Lift the long thin bottle, keep its path clear of the shampoo bottle with white cap, then set the long thin bottle upright.",
+    "Use the left arm to grab the red-capped bottle, carry it away from the hand-sized shampoo bottle, set the red-capped bottle upright."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the shampoo container white rounded top, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the oval light blue shampoo container, then place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the smooth bottle containing shampoo, then set the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the smooth bottle containing shampoo, then set the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Pick up the brown bottle, guide it around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, then set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode95.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca713026185d0a8f6066fdc4740430d210ef25d0
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, secure the hand-sized soda bottle, pass around the rectangular dark green shampoo bottle, and set the hand-sized soda bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the green shampoo bottle, and stand the medium dark brown bottle up.",
+    "Lift the bottle with white neck and red top, keep its path away from the shampoo bottle with matte black pump, and set the bottle with white neck and red top upright.",
+    "With the left arm, lift the brown bottle with red label, keep it away from the shampoo bottle with matte black pump, place the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, avoid the shampoo bottle with smooth surface while moving, then place the narrow-necked bottle upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the shampoo container with dispensing pump, and put the brown bottle with red label upright.",
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the shampoo bottle with matte black pump, set the hand-sized soda bottle upright.",
+    "Pick up the bottle with white neck and red top, route it around the hand-sized shampoo bottle, then stand the bottle with white neck and red top upright.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the shampoo bottle with matte black pump, then stand the medium dark brown bottle up.",
+    "Have the left arm grasp the brown bottle with red label, avoid the shampoo bottle with black pump while moving, and set the brown bottle with red label upright.",
+    "Using the left arm, pick the brown bottle with red label up, keep clear of the shampoo container with dispensing pump, place the brown bottle with red label upright.",
+    "Take the bottle with ridges on bottom, keep clear of the shampoo bottle, green with black cap, and place the bottle with ridges on bottom upright.",
+    "Use the left arm to pick the dark drink bottle with logo up, avoid the shampoo bottle with matte black pump, and place the dark drink bottle with logo upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the medium size shampoo bottle, then place the narrow-necked bottle upright.",
+    "Take the brown bottle with red label up, skirt the medium size shampoo bottle, and put the brown bottle with red label down upright.",
+    "Grab the brown bottle with red label, keep it from the shampoo bottle, green with black cap, and set the brown bottle with red label upright.",
+    "With the left arm, take the bottle with ridges on bottom up, steer past the shampoo container with dispensing pump, and place the bottle with ridges on bottom upright.",
+    "With the left arm, take the plastic drink bottle, avoid the shampoo bottle, green with black cap while moving, and set the plastic drink bottle upright.",
+    "Grip the long thin bottle with the left arm, keep distance from the hand-sized shampoo bottle, then set the long thin bottle upright.",
+    "Take the bottle with white neck and red top, route it away from the shampoo bottle with smooth surface, and place the bottle with white neck and red top upright.",
+    "Pick the plastic drink bottle up, keep its path clear of the shampoo bottle with smooth surface, place the plastic drink bottle upright.",
+    "Lift the bottle with ridges on bottom, keep its path clear of the shampoo bottle with matte black pump, then set the bottle with ridges on bottom upright.",
+    "Lift the smooth bottle with red lid, route it around the rectangular dark green shampoo bottle, then set the smooth bottle with red lid upright.",
+    "Lift the Coca-Cola bottle, guide it around the shampoo bottle with smooth surface, then stand the Coca-Cola bottle upright.",
+    "Guide the left arm to take the dark drink bottle with logo, bypass the shampoo bottle with matte black pump, and place the dark drink bottle with logo upright.",
+    "Grab the dark drink bottle with logo, steer it around the medium size shampoo bottle, and place the dark drink bottle with logo upright.",
+    "Grab the plastic drink bottle, move it without crossing the rectangular dark green shampoo bottle, then place the plastic drink bottle upright.",
+    "Move the narrow-necked bottle away from the rectangular dark green shampoo bottle as you lift, then place the narrow-necked bottle upright.",
+    "Move the medium dark brown bottle from its spot, skirt the rectangular dark green shampoo bottle, and stand the medium dark brown bottle upright.",
+    "With the left arm, pick the dark drink bottle with logo up, avoid the dark green bottle with pump, and put the dark drink bottle with logo upright.",
+    "Pick up the dark drink bottle with logo with the left arm, keep it away from the hand-sized shampoo bottle, place the dark drink bottle with logo upright.",
+    "Lift the medium dark brown bottle, route its path away from the green shampoo bottle, then set the medium dark brown bottle upright.",
+    "Take the dark drink bottle with logo, move it without nearing the dark green bottle with pump, and stand the dark drink bottle with logo upright.",
+    "Direct the left arm to pick the smooth bottle with red lid up, avoid the dark green bottle with pump, and stand the smooth bottle with red lid upright.",
+    "Using the left arm, lift the smooth bottle with red lid, keep clear of the shampoo bottle with smooth surface, and place the smooth bottle with red lid upright.",
+    "Use the left arm, raise the red-capped bottle, keep distance from the shampoo bottle, green with black cap, then place the red-capped bottle upright.",
+    "Pick up the bottle with white neck and red top, swing wide around the rectangular dark green shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Grab the Coca-Cola bottle, carry it around the rectangular dark green shampoo bottle, then stand the Coca-Cola bottle upright.",
+    "Grab the plastic drink bottle, keep it away from the hand-sized shampoo bottle, and put the plastic drink bottle down upright.",
+    "Use the left arm to lift the Coca-Cola bottle, avoid the shampoo container with dispensing pump en route, and stand the Coca-Cola bottle up.",
+    "With the left arm, secure the narrow-necked bottle, pass around the rectangular dark green shampoo bottle, and set the narrow-necked bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the green shampoo bottle, and stand the medium dark brown bottle up.",
+    "Lift the dark drink bottle with logo, keep its path away from the shampoo bottle with matte black pump, and set the dark drink bottle with logo upright.",
+    "With the left arm, lift the medium dark brown bottle, keep it away from the rectangular dark green shampoo bottle, place the medium dark brown bottle upright.",
+    "Grab the smooth bottle with red lid, avoid the shampoo container with dispensing pump while moving, then place the smooth bottle with red lid upright.",
+    "With the left arm, take the smooth bottle with red lid, pass outside the green shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the shampoo bottle with matte black pump, set the plastic drink bottle upright.",
+    "Pick up the Coca-Cola bottle, route it around the shampoo container with dispensing pump, then stand the Coca-Cola bottle upright.",
+    "Using the left arm, grasp the hand-sized soda bottle, move it past the rectangular green plastic shampoo dispenser, then stand the hand-sized soda bottle up.",
+    "Have the left arm grasp the smooth bottle with red lid, avoid the plastic shampoo container while moving, and set the smooth bottle with red lid upright.",
+    "Using the left arm, pick the plastic drink bottle up, keep clear of the plastic shampoo container, place the plastic drink bottle upright.",
+    "Take the hand-sized soda bottle, keep clear of the shampoo bottle with smooth surface, and place the hand-sized soda bottle upright.",
+    "Use the left arm to pick the narrow-necked bottle up, avoid the hand-sized shampoo bottle, and place the narrow-necked bottle upright.",
+    "Using the left arm, lift the bottle with ridges on bottom, pass clear of the green shampoo bottle, then place the bottle with ridges on bottom upright.",
+    "Take the medium dark brown bottle up, skirt the green shampoo bottle, and put the medium dark brown bottle down upright.",
+    "Grab the red-capped bottle, keep it from the green shampoo bottle, and set the red-capped bottle upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the shampoo bottle with smooth surface, and place the hand-sized soda bottle upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the shampoo container with dispensing pump while moving, and set the smooth bottle with red lid upright.",
+    "Grip the smooth bottle with red lid with the left arm, keep distance from the dark green bottle with pump, then set the smooth bottle with red lid upright.",
+    "Take the bottle with white neck and red top, route it away from the hand-sized shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Pick the hand-sized soda bottle up, keep its path clear of the dark green bottle with pump, place the hand-sized soda bottle upright.",
+    "Lift the narrow-necked bottle, keep its path clear of the rectangular green plastic shampoo dispenser, then set the narrow-necked bottle upright.",
+    "Lift the medium dark brown bottle, route it around the shampoo bottle, green with black cap, then set the medium dark brown bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the shampoo container with dispensing pump, then stand the dark drink bottle with logo upright.",
+    "Guide the left arm to take the medium dark brown bottle, bypass the rectangular dark green shampoo bottle, and place the medium dark brown bottle upright.",
+    "Grab the hand-sized soda bottle, steer it around the shampoo bottle with matte black pump, and place the hand-sized soda bottle upright.",
+    "Grab the hand-sized soda bottle, move it without crossing the shampoo container with dispensing pump, then place the hand-sized soda bottle upright.",
+    "Move the dark drink bottle with logo away from the dark green bottle with pump as you lift, then place the dark drink bottle with logo upright.",
+    "Move the red-capped bottle from its spot, skirt the rectangular green plastic shampoo dispenser, and stand the red-capped bottle upright.",
+    "With the left arm, pick the medium dark brown bottle up, avoid the shampoo bottle with smooth surface, and put the medium dark brown bottle upright.",
+    "Pick up the plastic drink bottle with the left arm, keep it away from the shampoo bottle with smooth surface, place the plastic drink bottle upright.",
+    "Lift the bottle with white neck and red top, route its path away from the shampoo bottle, green with black cap, then set the bottle with white neck and red top upright.",
+    "Take the Coca-Cola bottle, move it without nearing the shampoo bottle with black pump, and stand the Coca-Cola bottle upright.",
+    "Direct the left arm to pick the dark drink bottle with logo up, avoid the green shampoo bottle, and stand the dark drink bottle with logo upright.",
+    "Using the left arm, lift the narrow-necked bottle, keep clear of the shampoo bottle with black pump, and place the narrow-necked bottle upright.",
+    "Use the left arm, raise the hand-sized soda bottle, keep distance from the shampoo bottle with black pump, then place the hand-sized soda bottle upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the rectangular green plastic shampoo dispenser, and set the bottle with ridges on bottom upright.",
+    "Grab the bottle with ridges on bottom, carry it around the shampoo bottle with matte black pump, then stand the bottle with ridges on bottom upright.",
+    "Grab the narrow-necked bottle, keep it away from the shampoo bottle with smooth surface, and put the narrow-necked bottle down upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the hand-sized shampoo bottle en route, and stand the bottle with white neck and red top up.",
+    "With the left arm, secure the Coca-Cola bottle, pass around the shampoo bottle with smooth surface, and set the Coca-Cola bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the shampoo bottle with black pump, and stand the red-capped bottle up.",
+    "Lift the plastic drink bottle, keep its path away from the green shampoo bottle, and set the plastic drink bottle upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the shampoo bottle with black pump, place the smooth bottle with red lid upright.",
+    "Grab the smooth bottle with red lid, avoid the shampoo bottle with black pump while moving, then place the smooth bottle with red lid upright.",
+    "With the left arm, take the brown bottle with red label, pass outside the green shampoo bottle, and put the brown bottle with red label upright.",
+    "Use the left arm to grab the dark drink bottle with logo, carry it away from the dark green bottle with pump, set the dark drink bottle with logo upright.",
+    "Pick up the plastic drink bottle, route it around the rectangular dark green shampoo bottle, then stand the plastic drink bottle upright.",
+    "Using the left arm, grasp the red-capped bottle, move it past the shampoo bottle with black pump, then stand the red-capped bottle up.",
+    "Have the left arm grasp the dark drink bottle with logo, avoid the green shampoo bottle while moving, and set the dark drink bottle with logo upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the shampoo container with dispensing pump, place the hand-sized soda bottle upright.",
+    "Take the red-capped bottle, keep clear of the shampoo bottle with matte black pump, and place the red-capped bottle upright.",
+    "Use the left arm to pick the bottle with ridges on bottom up, avoid the shampoo bottle with smooth surface, and place the bottle with ridges on bottom upright.",
+    "Using the left arm, lift the plastic drink bottle, pass clear of the rectangular green plastic shampoo dispenser, then place the plastic drink bottle upright.",
+    "Take the bottle with ridges on bottom up, skirt the medium size shampoo bottle, and put the bottle with ridges on bottom down upright.",
+    "Grab the hand-sized soda bottle, keep it from the shampoo bottle with matte black pump, and set the hand-sized soda bottle upright.",
+    "With the left arm, take the hand-sized soda bottle up, steer past the shampoo bottle with matte black pump, and place the hand-sized soda bottle upright.",
+    "With the left arm, take the narrow-necked bottle, avoid the shampoo bottle with matte black pump while moving, and set the narrow-necked bottle upright.",
+    "Grip the dark drink bottle with logo with the left arm, keep distance from the shampoo bottle with smooth surface, then set the dark drink bottle with logo upright.",
+    "Take the hand-sized soda bottle, route it away from the shampoo bottle, green with black cap, and place the hand-sized soda bottle upright."
+  ],
+  "unseen": [
+    "Using the left arm, grab the brown bottle, move around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the dark green pump shampoo bottle, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the green bottle with pump top, then set the plastic soda bottle upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the green bottle with pump top, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the green bottle with pump top, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the green bottle with pump top, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the dark green pump shampoo bottle, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the dark green pump shampoo bottle, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the dark green pump shampoo bottle, and set the bottle with red screw cap upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo bottle for personal use, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the green bottle with pump top, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo bottle for personal use, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the green bottle with pump top, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the dark green pump shampoo bottle, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the brown bottle, steer it clear of the green bottle with pump top, and set the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the green bottle with pump top, then set the bottle with red screw cap upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the dark green pump shampoo bottle, and set the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the green bottle with pump top, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo bottle for personal use, and place the brown bottle upright.",
+    "Pick up the brown bottle, steer it clear of the dark green pump shampoo bottle, and set the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the dark green pump shampoo bottle, and set it upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo bottle for personal use, and set the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the green bottle with pump top, then place the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo bottle for personal use, and place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the dark green pump shampoo bottle, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the green bottle with pump top, and set it upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the green bottle with pump top, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo bottle for personal use, then place the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the green bottle with pump top, and place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo bottle for personal use, and set the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the shampoo bottle for personal use, then set the brown bottle upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the dark green pump shampoo bottle, then place the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo bottle for personal use, then place the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo bottle for personal use, and set it upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo bottle for personal use, and set the bottle with red screw cap upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode96.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..163058e782fdfb3c7d7ab5c46dabf75a878dd23e
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, take the bottle with rounded neck up, steer past the medium shampoo bottle with pump, and place the bottle with rounded neck upright.",
+    "Guide the right arm to take the medium green bottle with capped neck, bypass the yellow shampoo with cartoon design, and place the medium green bottle with capped neck upright.",
+    "Lift the bottle with ridges near base, guide it around the medium shampoo bottle with pump, then stand the bottle with ridges near base upright.",
+    "Take the smooth green bottle, route it away from the hand-sized yellow shampoo bottle, and place the smooth green bottle upright.",
+    "Use the right arm to grab the bottle with narrow top, carry it away from the shampoo bottle with rounded body, set the bottle with narrow top upright.",
+    "Pick up the green bottle with indented base with the right arm, keep it away from the hand-sized yellow shampoo bottle, place the green bottle with indented base upright.",
+    "Use the right arm to lift the handheld green bottle, avoid the shampoo bottle with rounded body en route, and stand the handheld green bottle up.",
+    "Using the right arm, lift the handheld green bottle, keep clear of the shampoo with green dispensing pump, and place the handheld green bottle upright.",
+    "Grab the bottle with rounded neck, carry it around the yellow shampoo bottle, then stand the bottle with rounded neck upright.",
+    "Pick the medium green bottle with capped neck up, keep its path clear of the shampoo bottle with handle slot, place the medium green bottle with capped neck upright.",
+    "Direct the right arm to pick the medium-sized green bottle up, avoid the yellow container with green pump, and stand the medium-sized green bottle upright.",
+    "Grab the medium green bottle with capped neck, move it without crossing the smooth bottle with green top, then place the medium green bottle with capped neck upright.",
+    "Grab the bottle with ridges near base, avoid the plastic shampoo bottle with label while moving, then place the bottle with ridges near base upright.",
+    "Grip the plastic bottle with the right arm, keep distance from the smooth bottle with green top, then set the plastic bottle upright.",
+    "Grab the medium green bottle, keep it away from the yellow shampoo bottle, and put the medium green bottle down upright.",
+    "Move the green bottle with indented base from its spot, skirt the shampoo bottle with rounded body, and stand the green bottle with indented base upright.",
+    "Pick up the medium green bottle with capped neck, swing wide around the bottle with cartoon label, and set the medium green bottle with capped neck upright.",
+    "Use the right arm to pick the medium green bottle with capped neck up, avoid the bottle with cartoon label, and place the medium green bottle with capped neck upright.",
+    "With the right arm, secure the medium green bottle with capped neck, pass around the smooth bottle with green top, and set the medium green bottle with capped neck upright.",
+    "Using the right arm, lift the bottle with ridges near base, pass clear of the bottle with cartoon label, then place the bottle with ridges near base upright.",
+    "Lift the medium-sized green bottle, keep its path away from the bottle with cartoon label, and set the medium-sized green bottle upright.",
+    "With the right arm, pick the bottle with narrow top up, avoid the plastic shampoo bottle with label, and put the bottle with narrow top upright.",
+    "With the right arm, lift the plastic bottle, keep it away from the plastic shampoo bottle with label, place the plastic bottle upright.",
+    "Grab the bottle with narrow top, keep it from the yellow shampoo bottle, and set the bottle with narrow top upright.",
+    "Take the green bottle with indented base, move it without nearing the plastic shampoo bottle with label, and stand the green bottle with indented base upright.",
+    "Move the bottle with white printed label away from the yellow container with green pump as you lift, then place the bottle with white printed label upright.",
+    "Lift the bottle with rounded neck, route its path away from the smooth bottle with green top, then set the bottle with rounded neck upright.",
+    "With the right arm, take the medium green bottle, avoid the yellow shampoo bottle while moving, and set the medium green bottle upright.",
+    "Pick up the medium-sized green bottle, route it around the shampoo bottle with handle slot, then stand the medium-sized green bottle upright.",
+    "Lift the plastic bottle, keep its path clear of the bottle with cartoon label, then set the plastic bottle upright.",
+    "Use the right arm, raise the plastic bottle, keep distance from the shampoo with green dispensing pump, then place the plastic bottle upright.",
+    "Grab the smooth green bottle, steer it around the yellow shampoo with cartoon design, and place the smooth green bottle upright.",
+    "Take the medium green bottle with capped neck up, skirt the yellow bottle with green top, and put the medium green bottle with capped neck down upright.",
+    "Using the right arm, grasp the smooth green bottle, move it past the shampoo with green dispensing pump, then stand the smooth green bottle up.",
+    "Have the right arm grasp the bottle with white printed label, avoid the smooth bottle with green top while moving, and set the bottle with white printed label upright.",
+    "Lift the bottle with ridges near base, route it around the plastic shampoo bottle with label, then set the bottle with ridges near base upright.",
+    "With the right arm, take the smooth green plastic bottle, pass outside the yellow shampoo with cartoon design, and put the smooth green plastic bottle upright.",
+    "Take the smooth green bottle, keep clear of the yellow shampoo with cartoon design, and place the smooth green bottle upright.",
+    "With the right arm, pick up the bottle with rounded neck, steer away from the smooth bottle with green top, and stand the bottle with rounded neck up.",
+    "Using the right arm, pick the green bottle with indented base up, keep clear of the hand-sized yellow shampoo bottle, place the green bottle with indented base upright.",
+    "With the right arm, take the plastic bottle up, steer past the yellow shampoo with cartoon design, and place the plastic bottle upright.",
+    "Guide the right arm to take the smooth green bottle, bypass the shampoo bottle with handle slot, and place the smooth green bottle upright.",
+    "Lift the medium green bottle with capped neck, guide it around the plastic shampoo bottle with label, then stand the medium green bottle with capped neck upright.",
+    "Take the medium-sized green bottle, route it away from the shampoo bottle with handle slot, and place the medium-sized green bottle upright.",
+    "Use the right arm to grab the plastic bottle, carry it away from the plastic shampoo bottle with label, set the plastic bottle upright.",
+    "Pick up the bottle with rounded neck with the right arm, keep it away from the shampoo bottle with handle slot, place the bottle with rounded neck upright.",
+    "Use the right arm to lift the handheld green bottle, avoid the hand-sized yellow shampoo bottle en route, and stand the handheld green bottle up.",
+    "Using the right arm, lift the medium green bottle, keep clear of the smooth bottle with green top, and place the medium green bottle upright.",
+    "Grab the bottle with ridges near base, carry it around the yellow bottle with green top, then stand the bottle with ridges near base upright.",
+    "Pick the plastic bottle up, keep its path clear of the smooth bottle with green top, place the plastic bottle upright.",
+    "Direct the right arm to pick the bottle with white printed label up, avoid the yellow shampoo bottle, and stand the bottle with white printed label upright.",
+    "Grab the plastic bottle, move it without crossing the shampoo with green dispensing pump, then place the plastic bottle upright.",
+    "Grab the bottle with narrow top, avoid the yellow container with green pump while moving, then place the bottle with narrow top upright.",
+    "Grip the medium-sized green bottle with the right arm, keep distance from the shampoo bottle with rounded body, then set the medium-sized green bottle upright.",
+    "Grab the handheld green bottle, keep it away from the yellow bottle with green top, and put the handheld green bottle down upright.",
+    "Move the bottle with ridges near base from its spot, skirt the hand-sized yellow shampoo bottle, and stand the bottle with ridges near base upright.",
+    "Pick up the medium-sized green bottle, swing wide around the medium shampoo bottle with pump, and set the medium-sized green bottle upright.",
+    "Use the right arm to pick the handheld green bottle up, avoid the medium shampoo bottle with pump, and place the handheld green bottle upright.",
+    "With the right arm, secure the green bottle with indented base, pass around the yellow bottle with green top, and set the green bottle with indented base upright.",
+    "Using the right arm, lift the medium green bottle, pass clear of the medium shampoo bottle with pump, then place the medium green bottle upright.",
+    "Lift the smooth green plastic bottle, keep its path away from the shampoo bottle with rounded body, and set the smooth green plastic bottle upright.",
+    "With the right arm, pick the smooth green plastic bottle up, avoid the yellow container with green pump, and put the smooth green plastic bottle upright.",
+    "With the right arm, lift the green bottle with indented base, keep it away from the yellow shampoo with cartoon design, place the green bottle with indented base upright.",
+    "Grab the handheld green bottle, keep it from the smooth bottle with green top, and set the handheld green bottle upright.",
+    "Take the bottle with narrow top, move it without nearing the plastic shampoo bottle with label, and stand the bottle with narrow top upright.",
+    "Move the bottle with narrow top away from the yellow shampoo with cartoon design as you lift, then place the bottle with narrow top upright.",
+    "Lift the green bottle with indented base, route its path away from the shampoo bottle with handle slot, then set the green bottle with indented base upright.",
+    "With the right arm, take the green bottle with indented base, avoid the shampoo with green dispensing pump while moving, and set the green bottle with indented base upright.",
+    "Pick up the medium green bottle with capped neck, route it around the smooth bottle with green top, then stand the medium green bottle with capped neck upright.",
+    "Lift the smooth green plastic bottle, keep its path clear of the shampoo with green dispensing pump, then set the smooth green plastic bottle upright.",
+    "Use the right arm, raise the medium green bottle, keep distance from the bottle with cartoon label, then place the medium green bottle upright.",
+    "Grab the medium green bottle, steer it around the hand-sized yellow shampoo bottle, and place the medium green bottle upright.",
+    "Take the bottle with ridges near base up, skirt the shampoo bottle with rounded body, and put the bottle with ridges near base down upright.",
+    "Using the right arm, grasp the plastic bottle, move it past the shampoo bottle with handle slot, then stand the plastic bottle up.",
+    "Have the right arm grasp the plastic bottle, avoid the bottle with cartoon label while moving, and set the plastic bottle upright.",
+    "Lift the medium-sized green bottle, route it around the yellow bottle with green top, then set the medium-sized green bottle upright.",
+    "With the right arm, take the bottle with ridges near base, pass outside the yellow shampoo bottle, and put the bottle with ridges near base upright.",
+    "Take the bottle with ridges near base, keep clear of the shampoo bottle with handle slot, and place the bottle with ridges near base upright.",
+    "With the right arm, pick up the smooth green bottle, steer away from the medium shampoo bottle with pump, and stand the smooth green bottle up.",
+    "Using the right arm, pick the medium green bottle up, keep clear of the yellow shampoo bottle, place the medium green bottle upright.",
+    "With the right arm, take the smooth green plastic bottle up, steer past the shampoo bottle with rounded body, and place the smooth green plastic bottle upright.",
+    "Guide the right arm to take the green bottle with indented base, bypass the smooth bottle with green top, and place the green bottle with indented base upright.",
+    "Lift the medium-sized green bottle, guide it around the yellow bottle with green top, then stand the medium-sized green bottle upright.",
+    "Take the smooth green bottle, route it away from the yellow bottle with green top, and place the smooth green bottle upright.",
+    "Use the right arm to grab the medium-sized green bottle, carry it away from the yellow container with green pump, set the medium-sized green bottle upright.",
+    "Pick up the smooth green plastic bottle with the right arm, keep it away from the shampoo bottle with handle slot, place the smooth green plastic bottle upright.",
+    "Use the right arm to lift the bottle with narrow top, avoid the medium shampoo bottle with pump en route, and stand the bottle with narrow top up.",
+    "Using the right arm, lift the handheld green bottle, keep clear of the yellow bottle with green top, and place the handheld green bottle upright.",
+    "Grab the green bottle with indented base, carry it around the shampoo bottle with handle slot, then stand the green bottle with indented base upright.",
+    "Pick the plastic bottle up, keep its path clear of the shampoo with green dispensing pump, place the plastic bottle upright.",
+    "Direct the right arm to pick the medium green bottle up, avoid the plastic shampoo bottle with label, and stand the medium green bottle upright.",
+    "Grab the smooth green bottle, move it without crossing the shampoo bottle with handle slot, then place the smooth green bottle upright.",
+    "Grab the plastic bottle, avoid the yellow container with green pump while moving, then place the plastic bottle upright.",
+    "Grip the smooth green plastic bottle with the right arm, keep distance from the yellow bottle with green top, then set the smooth green plastic bottle upright.",
+    "Grab the bottle with white printed label, keep it away from the yellow container with green pump, and put the bottle with white printed label down upright.",
+    "Move the medium-sized green bottle from its spot, skirt the plastic shampoo bottle with label, and stand the medium-sized green bottle upright.",
+    "Pick up the bottle with ridges near base, swing wide around the yellow shampoo with cartoon design, and set the bottle with ridges near base upright.",
+    "Use the right arm to pick the bottle with rounded neck up, avoid the yellow bottle with green top, and place the bottle with rounded neck upright.",
+    "With the right arm, secure the smooth green plastic bottle, pass around the plastic shampoo bottle with label, and set the smooth green plastic bottle upright.",
+    "Using the right arm, lift the plastic bottle, pass clear of the yellow shampoo with cartoon design, then place the plastic bottle upright."
+  ],
+  "unseen": [
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the green bottle, move around the yellow bottle with rounded edges, and place the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, then set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the yellow shampoo with pump dispenser, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, and place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, move it clear of the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the yellow bottle with rounded edges, then set the green bottle upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, and place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the green bottle with white label, move around the smooth plastic shampoo container, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle, move around the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow shampoo with pump dispenser, then set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green plastic bottle with ridged bottom, carry it clear of the smooth plastic shampoo container, and set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, guide it around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the green bottle, move around the smooth plastic shampoo container, and place the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the yellow bottle with rounded edges, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the smooth plastic shampoo container, then set the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the yellow shampoo with pump dispenser, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the green bottle with white label, move around the yellow shampoo with pump dispenser, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the smooth plastic shampoo container, then place the green bottle upright.",
+    "Pick up the green bottle, steer it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the yellow bottle with rounded edges, then set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the green bottle with white label, move around the yellow bottle with rounded edges, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, then set the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the yellow bottle with rounded edges, and place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the smooth plastic shampoo container, then set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the green bottle, move around the yellow bottle with rounded edges, and place the green bottle upright.",
+    "Using the right arm, grab the green bottle with white label, move around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the yellow bottle with rounded edges, then place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the smooth plastic shampoo container, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the yellow bottle with rounded edges, then set the green bottle upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, and set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow shampoo with pump dispenser, and set it upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the smooth plastic shampoo container, and place the green plastic bottle with ridged bottom upright.",
+    "Using the right arm, grab the green bottle with white label, move around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow bottle with rounded edges, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the yellow shampoo with pump dispenser, then set the green plastic bottle with ridged bottom upright.",
+    "With the right arm, grab the green bottle with white label, carry it clear of the yellow bottle with rounded edges, and set the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the green bottle with white label, move around the smooth plastic shampoo container, and place the green bottle with white label upright.",
+    "Using the right arm, grab the green bottle with white label, move around the yellow shampoo with pump dispenser, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the smooth plastic shampoo container, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the yellow bottle with rounded edges, then set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow shampoo with pump dispenser, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle with white label, carry it around the smooth plastic shampoo container, and set it upright.",
+    "Use the right arm to grab the green bottle, move around the yellow shampoo with pump dispenser, and place the green bottle upright.",
+    "Using the right arm, grab the green bottle, move around the yellow shampoo with pump dispenser, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the yellow shampoo with pump dispenser, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the yellow bottle with rounded edges, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the smooth plastic shampoo container, then set the green bottle with white label upright.",
+    "With the right arm, grab the green bottle, carry it clear of the yellow bottle with rounded edges, and set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the smooth plastic shampoo container, then place the green bottle with white label upright.",
+    "Use the right arm to grab the green bottle, carry it around the yellow bottle with rounded edges, and set it upright.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom, move around the yellow shampoo with pump dispenser, and place the green plastic bottle with ridged bottom upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode97.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b74c54a193f743d089ad47627b5d5b0e46048cc
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to pick the plastic drink bottle up, avoid the shampoo bottle tapered toward cap, and stand the plastic drink bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the shampoo bottle with white cap, then set the narrow-necked bottle upright.",
+    "Pick up the narrow-necked bottle, route it around the shampoo bottle with white cap, then stand the narrow-necked bottle upright.",
+    "Use the left arm to lift the bottle with ridges on bottom, avoid the blue shampoo bottle en route, and stand the bottle with ridges on bottom up.",
+    "Using the left arm, grasp the medium dark brown bottle, move it past the bottle of shampoo, then stand the medium dark brown bottle up.",
+    "Have the left arm grasp the red-capped bottle, avoid the curved light blue shampoo bottle while moving, and set the red-capped bottle upright.",
+    "Pick up the bottle with ridges on bottom, swing wide around the hand-sized shampoo bottle, and set the bottle with ridges on bottom upright.",
+    "Take the bottle with white neck and red top, keep clear of the bottle of shampoo, and place the bottle with white neck and red top upright.",
+    "Pick up the bottle with white neck and red top with the left arm, keep it away from the small smooth shampoo bottle, place the bottle with white neck and red top upright.",
+    "With the left arm, take the brown bottle with red label, avoid the shampoo bottle with matte plastic while moving, and set the brown bottle with red label upright.",
+    "Using the left arm, lift the brown bottle with red label, pass clear of the shampoo bottle tapered toward cap, then place the brown bottle with red label upright.",
+    "Grab the narrow-necked bottle, carry it around the small smooth shampoo bottle, then stand the narrow-necked bottle upright.",
+    "With the left arm, take the medium dark brown bottle up, steer past the shampoo bottle with white cap, and place the medium dark brown bottle upright.",
+    "With the left arm, take the plastic drink bottle, pass outside the small smooth shampoo bottle, and put the plastic drink bottle upright.",
+    "Grab the red-capped bottle, keep it away from the blue shampoo bottle, and put the red-capped bottle down upright.",
+    "Move the long thin bottle away from the blue shampoo bottle slender design as you lift, then place the long thin bottle upright.",
+    "With the left arm, pick up the bottle with white neck and red top, steer away from the bottle light blue rounded shape, and stand the bottle with white neck and red top up.",
+    "Take the long thin bottle, move it without nearing the bottle of shampoo, and stand the long thin bottle upright.",
+    "Lift the plastic drink bottle, keep its path clear of the blue shampoo bottle slender design, then set the plastic drink bottle upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the light blue shampoo bottle small size, and place the bottle with white neck and red top upright.",
+    "Grab the medium dark brown bottle, avoid the bottle light blue rounded shape while moving, then place the medium dark brown bottle upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the bottle of shampoo, place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the long thin bottle, bypass the bottle of shampoo, and place the long thin bottle upright.",
+    "Grab the plastic drink bottle, move it without crossing the light blue shampoo bottle small size, then place the plastic drink bottle upright.",
+    "With the left arm, pick the smooth bottle with red lid up, avoid the small smooth shampoo bottle, and put the smooth bottle with red lid upright.",
+    "Lift the dark drink bottle with logo, route it around the curved light blue shampoo bottle, then set the dark drink bottle with logo upright.",
+    "Move the medium dark brown bottle from its spot, skirt the small smooth shampoo bottle, and stand the medium dark brown bottle upright.",
+    "Grip the medium dark brown bottle with the left arm, keep distance from the shampoo bottle flat bottom edge, then set the medium dark brown bottle upright.",
+    "Grab the medium dark brown bottle, steer it around the small smooth shampoo bottle, and place the medium dark brown bottle upright.",
+    "With the left arm, secure the long thin bottle, pass around the blue shampoo bottle, and set the long thin bottle upright.",
+    "Lift the dark drink bottle with logo, guide it around the blue shampoo bottle slender design, then stand the dark drink bottle with logo upright.",
+    "Take the smooth bottle with red lid, route it away from the curved light blue shampoo bottle, and place the smooth bottle with red lid upright.",
+    "Lift the smooth bottle with red lid, keep its path away from the small smooth shampoo bottle, and set the smooth bottle with red lid upright.",
+    "Grab the bottle with white neck and red top, keep it from the blue shampoo bottle, and set the bottle with white neck and red top upright.",
+    "With the left arm, lift the bottle with ridges on bottom, keep it away from the hand-sized shampoo bottle, place the bottle with ridges on bottom upright.",
+    "Use the left arm to grab the plastic drink bottle, carry it away from the small smooth shampoo bottle, set the plastic drink bottle upright.",
+    "Use the left arm, raise the narrow-necked bottle, keep distance from the shampoo bottle with matte plastic, then place the narrow-necked bottle upright.",
+    "Take the red-capped bottle up, skirt the light blue shampoo bottle small size, and put the red-capped bottle down upright.",
+    "Using the left arm, lift the hand-sized soda bottle, keep clear of the bottle of shampoo, and place the hand-sized soda bottle upright.",
+    "Using the left arm, pick the hand-sized soda bottle up, keep clear of the bottle of shampoo, place the hand-sized soda bottle upright.",
+    "Direct the left arm to pick the long thin bottle up, avoid the bottle of shampoo, and stand the long thin bottle upright.",
+    "Lift the narrow-necked bottle, route its path away from the shampoo bottle tapered toward cap, then set the narrow-necked bottle upright.",
+    "Pick up the red-capped bottle, route it around the curved light blue shampoo bottle, then stand the red-capped bottle upright.",
+    "Use the left arm to lift the long thin bottle, avoid the shampoo bottle tapered toward cap en route, and stand the long thin bottle up.",
+    "Using the left arm, grasp the dark drink bottle with logo, move it past the hand-sized shampoo bottle, then stand the dark drink bottle with logo up.",
+    "Have the left arm grasp the red-capped bottle, avoid the light blue shampoo bottle small size while moving, and set the red-capped bottle upright.",
+    "Pick up the brown bottle with red label, swing wide around the bottle of shampoo, and set the brown bottle with red label upright.",
+    "Take the brown bottle with red label, keep clear of the blue shampoo bottle, and place the brown bottle with red label upright.",
+    "Pick up the long thin bottle with the left arm, keep it away from the blue shampoo bottle, place the long thin bottle upright.",
+    "With the left arm, take the long thin bottle, avoid the blue shampoo bottle while moving, and set the long thin bottle upright.",
+    "Using the left arm, lift the narrow-necked bottle, pass clear of the blue shampoo bottle slender design, then place the narrow-necked bottle upright.",
+    "Grab the brown bottle with red label, carry it around the shampoo bottle tapered toward cap, then stand the brown bottle with red label upright.",
+    "With the left arm, take the red-capped bottle up, steer past the shampoo bottle with matte plastic, and place the red-capped bottle upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the shampoo bottle with matte plastic, and put the bottle with ridges on bottom upright.",
+    "Grab the hand-sized soda bottle, keep it away from the small smooth shampoo bottle, and put the hand-sized soda bottle down upright.",
+    "Move the narrow-necked bottle away from the shampoo bottle tapered toward cap as you lift, then place the narrow-necked bottle upright.",
+    "With the left arm, pick up the red-capped bottle, steer away from the shampoo bottle with white cap, and stand the red-capped bottle up.",
+    "Take the long thin bottle, move it without nearing the bottle light blue rounded shape, and stand the long thin bottle upright.",
+    "Lift the bottle with white neck and red top, keep its path clear of the bottle light blue rounded shape, then set the bottle with white neck and red top upright.",
+    "Use the left arm to pick the bottle with white neck and red top up, avoid the shampoo bottle with white cap, and place the bottle with white neck and red top upright.",
+    "Grab the bottle with ridges on bottom, avoid the curved light blue shampoo bottle while moving, then place the bottle with ridges on bottom upright.",
+    "Pick the smooth bottle with red lid up, keep its path clear of the bottle of shampoo, place the smooth bottle with red lid upright.",
+    "Guide the left arm to take the smooth bottle with red lid, bypass the shampoo bottle flat bottom edge, and place the smooth bottle with red lid upright.",
+    "Grab the narrow-necked bottle, move it without crossing the hand-sized shampoo bottle, then place the narrow-necked bottle upright.",
+    "With the left arm, pick the bottle with ridges on bottom up, avoid the blue shampoo bottle slender design, and put the bottle with ridges on bottom upright.",
+    "Lift the red-capped bottle, route it around the bottle of shampoo, then set the red-capped bottle upright.",
+    "Move the Coca-Cola bottle from its spot, skirt the shampoo bottle tapered toward cap, and stand the Coca-Cola bottle upright.",
+    "Grip the hand-sized soda bottle with the left arm, keep distance from the shampoo bottle with matte plastic, then set the hand-sized soda bottle upright.",
+    "Grab the bottle with white neck and red top, steer it around the shampoo bottle flat bottom edge, and place the bottle with white neck and red top upright.",
+    "With the left arm, secure the bottle with white neck and red top, pass around the small smooth shampoo bottle, and set the bottle with white neck and red top upright.",
+    "Lift the narrow-necked bottle, guide it around the shampoo bottle with white cap, then stand the narrow-necked bottle upright.",
+    "Take the medium dark brown bottle, route it away from the shampoo bottle with matte plastic, and place the medium dark brown bottle upright.",
+    "Lift the long thin bottle, keep its path away from the shampoo bottle with matte plastic, and set the long thin bottle upright.",
+    "Grab the narrow-necked bottle, keep it from the blue shampoo bottle slender design, and set the narrow-necked bottle upright.",
+    "With the left arm, lift the smooth bottle with red lid, keep it away from the hand-sized shampoo bottle, place the smooth bottle with red lid upright.",
+    "Use the left arm to grab the hand-sized soda bottle, carry it away from the bottle of shampoo, set the hand-sized soda bottle upright.",
+    "Use the left arm, raise the long thin bottle, keep distance from the shampoo bottle with white cap, then place the long thin bottle upright.",
+    "Take the red-capped bottle up, skirt the shampoo bottle tapered toward cap, and put the red-capped bottle down upright.",
+    "Using the left arm, lift the bottle with white neck and red top, keep clear of the blue shampoo bottle, and place the bottle with white neck and red top upright.",
+    "Using the left arm, pick the smooth bottle with red lid up, keep clear of the small smooth shampoo bottle, place the smooth bottle with red lid upright.",
+    "Direct the left arm to pick the red-capped bottle up, avoid the shampoo bottle with white cap, and stand the red-capped bottle upright.",
+    "Lift the plastic drink bottle, route its path away from the hand-sized shampoo bottle, then set the plastic drink bottle upright.",
+    "Pick up the hand-sized soda bottle, route it around the small smooth shampoo bottle, then stand the hand-sized soda bottle upright.",
+    "Use the left arm to lift the bottle with white neck and red top, avoid the bottle light blue rounded shape en route, and stand the bottle with white neck and red top up.",
+    "Using the left arm, grasp the bottle with ridges on bottom, move it past the shampoo bottle tapered toward cap, then stand the bottle with ridges on bottom up.",
+    "Have the left arm grasp the medium dark brown bottle, avoid the shampoo bottle with matte plastic while moving, and set the medium dark brown bottle upright.",
+    "Pick up the brown bottle with red label, swing wide around the small smooth shampoo bottle, and set the brown bottle with red label upright.",
+    "Take the hand-sized soda bottle, keep clear of the shampoo bottle with white cap, and place the hand-sized soda bottle upright.",
+    "Pick up the smooth bottle with red lid with the left arm, keep it away from the small smooth shampoo bottle, place the smooth bottle with red lid upright.",
+    "With the left arm, take the smooth bottle with red lid, avoid the bottle of shampoo while moving, and set the smooth bottle with red lid upright.",
+    "Using the left arm, lift the smooth bottle with red lid, pass clear of the bottle of shampoo, then place the smooth bottle with red lid upright.",
+    "Grab the hand-sized soda bottle, carry it around the shampoo bottle with matte plastic, then stand the hand-sized soda bottle upright.",
+    "With the left arm, take the dark drink bottle with logo up, steer past the hand-sized shampoo bottle, and place the dark drink bottle with logo upright.",
+    "With the left arm, take the bottle with ridges on bottom, pass outside the blue shampoo bottle slender design, and put the bottle with ridges on bottom upright.",
+    "Grab the plastic drink bottle, keep it away from the shampoo bottle with matte plastic, and put the plastic drink bottle down upright.",
+    "Move the medium dark brown bottle away from the shampoo bottle with white cap as you lift, then place the medium dark brown bottle upright.",
+    "With the left arm, pick up the medium dark brown bottle, steer away from the curved light blue shampoo bottle, and stand the medium dark brown bottle up.",
+    "Take the bottle with ridges on bottom, move it without nearing the shampoo bottle with white cap, and stand the bottle with ridges on bottom upright.",
+    "Lift the long thin bottle, keep its path clear of the light blue shampoo bottle small size, then set the long thin bottle upright.",
+    "Use the left arm to pick the medium dark brown bottle up, avoid the light blue shampoo bottle small size, and place the medium dark brown bottle upright."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Use the left arm to grab the brown bottle, carry it around the shampoo container white rounded top, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the oval light blue shampoo container, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the shampoo container white rounded top, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, move it clear of the shampoo container white rounded top, then place the brown bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the oval light blue shampoo container, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the shampoo container white rounded top, and place the brown bottle upright.",
+    "With the left arm, grab the plastic soda bottle, carry it clear of the shampoo container white rounded top, and set the plastic soda bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the oval light blue shampoo container, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the shampoo container white rounded top, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, move it clear of the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the oval light blue shampoo container, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the plastic soda bottle, guide it around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the brown bottle, carry it clear of the oval light blue shampoo container, then set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the oval light blue shampoo container, then place the plastic soda bottle upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the bottle with red screw cap, move around the smooth bottle containing shampoo, and place the bottle with red screw cap upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the shampoo container white rounded top, and set it upright.",
+    "Using the left arm, grab the bottle with red screw cap, move around the smooth bottle containing shampoo, then place the bottle with red screw cap upright.",
+    "Grab the brown bottle, move it clear of the smooth bottle containing shampoo, then place the brown bottle upright.",
+    "Pick up the bottle with red screw cap, steer it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, move around the smooth bottle containing shampoo, and place the brown bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the smooth bottle containing shampoo, and set the brown bottle upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the bottle with red screw cap, carry it clear of the oval light blue shampoo container, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the bottle with red screw cap, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the oval light blue shampoo container, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the oval light blue shampoo container, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the shampoo container white rounded top, and set the bottle with red screw cap upright.",
+    "Pick up the bottle with red screw cap, guide it around the shampoo container white rounded top, then place the bottle with red screw cap upright.",
+    "Grab the plastic soda bottle, carry it clear of the oval light blue shampoo container, then set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Using the left arm, grab the plastic soda bottle, move around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the plastic soda bottle, move it clear of the smooth bottle containing shampoo, then place the plastic soda bottle upright.",
+    "Pick up the brown bottle, steer it clear of the oval light blue shampoo container, and set the brown bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, and set the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, guide it around the shampoo container white rounded top, then place the plastic soda bottle upright.",
+    "Grab the bottle with red screw cap, carry it clear of the smooth bottle containing shampoo, then set the bottle with red screw cap upright.",
+    "Use the left arm to grab the brown bottle, carry it around the smooth bottle containing shampoo, and set it upright.",
+    "Using the left arm, grab the brown bottle, move around the oval light blue shampoo container, then place the brown bottle upright.",
+    "Grab the bottle with red screw cap, move it clear of the oval light blue shampoo container, then place the bottle with red screw cap upright.",
+    "Pick up the plastic soda bottle, steer it clear of the smooth bottle containing shampoo, and set the plastic soda bottle upright.",
+    "Use the left arm to grab the plastic soda bottle, move around the smooth bottle containing shampoo, and place the plastic soda bottle upright.",
+    "With the left arm, grab the brown bottle, carry it clear of the shampoo container white rounded top, and set the brown bottle upright.",
+    "Pick up the brown bottle, guide it around the shampoo container white rounded top, then place the brown bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode98.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bc68b8ae4b48d5557f8760e0984603ed9c68cc1
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the handheld green bottle, keep its path clear of the pink shampoo bottle, then set the handheld green bottle upright.",
+    "Use the left arm to pick the bottle with ridges near base up, avoid the pink shampoo bottle, and place the bottle with ridges near base upright.",
+    "Pick up the bottle with rounded neck, swing wide around the rectangular pink bottle with dispenser, and set the bottle with rounded neck upright.",
+    "With the left arm, take the bottle with rounded neck, pass outside the medium pink bottle for shampoo, and put the bottle with rounded neck upright.",
+    "Take the smooth green bottle up, skirt the shampoo bottle with rectangular shape, and put the smooth green bottle down upright.",
+    "Using the left arm, lift the smooth green plastic bottle, pass clear of the hand-sized pink shampoo container, then place the smooth green plastic bottle upright.",
+    "Take the medium green bottle, keep clear of the rectangular pink shampoo container, and place the medium green bottle upright.",
+    "Move the bottle with ridges near base from its spot, skirt the pink bottle with black dispenser, and stand the bottle with ridges near base upright.",
+    "With the left arm, take the green bottle with indented base, avoid the medium pink bottle for shampoo while moving, and set the green bottle with indented base upright.",
+    "Grab the bottle with narrow top, move it without crossing the hand-sized pink shampoo container, then place the bottle with narrow top upright.",
+    "With the left arm, take the medium green bottle up, steer past the shampoo bottle with rectangular shape, and place the medium green bottle upright.",
+    "Lift the medium-sized green bottle, keep its path away from the plastic shampoo bottle with black pump, and set the medium-sized green bottle upright.",
+    "Take the bottle with ridges near base, route it away from the shampoo bottle with shiny pink body, and place the bottle with ridges near base upright.",
+    "Direct the left arm to pick the medium green bottle with capped neck up, avoid the rectangular pink shampoo container, and stand the medium green bottle with capped neck upright.",
+    "Using the left arm, lift the bottle with ridges near base, keep clear of the pink bottle with narrow top, and place the bottle with ridges near base upright.",
+    "Lift the medium-sized green bottle, guide it around the hand-sized pink shampoo container, then stand the medium-sized green bottle upright.",
+    "Use the left arm to grab the handheld green bottle, carry it away from the pink bottle with narrow top, set the handheld green bottle upright.",
+    "Using the left arm, pick the handheld green bottle up, keep clear of the rectangular pink bottle with dispenser, place the handheld green bottle upright.",
+    "Pick up the bottle with rounded neck with the left arm, keep it away from the hand-sized pink shampoo container, place the bottle with rounded neck upright.",
+    "Move the smooth green bottle away from the pink shampoo container with pump top as you lift, then place the smooth green bottle upright.",
+    "Take the plastic bottle, move it without nearing the plastic shampoo bottle with black pump, and stand the plastic bottle upright.",
+    "Use the left arm, raise the bottle with narrow top, keep distance from the rectangular pink bottle with dispenser, then place the bottle with narrow top upright.",
+    "With the left arm, secure the bottle with ridges near base, pass around the shampoo bottle with rectangular shape, and set the bottle with ridges near base upright.",
+    "Lift the medium green bottle with capped neck, route its path away from the shampoo bottle with shiny pink body, then set the medium green bottle with capped neck upright.",
+    "With the left arm, lift the handheld green bottle, keep it away from the medium pink bottle for shampoo, place the handheld green bottle upright.",
+    "Grab the green bottle with indented base, carry it around the pink bottle with narrow top, then stand the green bottle with indented base upright.",
+    "Using the left arm, grasp the handheld green bottle, move it past the rectangular pink bottle with dispenser, then stand the handheld green bottle up.",
+    "Grab the green bottle with indented base, steer it around the pink bottle with black dispenser, and place the green bottle with indented base upright.",
+    "Grab the handheld green bottle, keep it away from the rectangular pink shampoo container, and put the handheld green bottle down upright.",
+    "Grip the medium green bottle with the left arm, keep distance from the pink shampoo container with pump top, then set the medium green bottle upright.",
+    "Have the left arm grasp the bottle with rounded neck, avoid the pink shampoo bottle while moving, and set the bottle with rounded neck upright.",
+    "Grab the bottle with narrow top, keep it from the pink shampoo container with pump top, and set the bottle with narrow top upright.",
+    "Lift the bottle with narrow top, route it around the medium pink bottle for shampoo, then set the bottle with narrow top upright.",
+    "Pick up the bottle with white printed label, route it around the pink shampoo container with pump top, then stand the bottle with white printed label upright.",
+    "Pick the medium green bottle with capped neck up, keep its path clear of the rectangular pink bottle with dispenser, place the medium green bottle with capped neck upright.",
+    "Use the left arm to lift the smooth green plastic bottle, avoid the medium pink bottle for shampoo en route, and stand the smooth green plastic bottle up.",
+    "Guide the left arm to take the bottle with narrow top, bypass the shampoo bottle with shiny pink body, and place the bottle with narrow top upright.",
+    "With the left arm, pick the bottle with rounded neck up, avoid the plastic shampoo bottle with black pump, and put the bottle with rounded neck upright.",
+    "With the left arm, pick up the bottle with narrow top, steer away from the hand-sized pink shampoo container, and stand the bottle with narrow top up.",
+    "Grab the plastic bottle, avoid the rectangular pink bottle with dispenser while moving, then place the plastic bottle upright.",
+    "Lift the smooth green plastic bottle, keep its path clear of the pink bottle with narrow top, then set the smooth green plastic bottle upright.",
+    "Use the left arm to pick the handheld green bottle up, avoid the pink bottle with black dispenser, and place the handheld green bottle upright.",
+    "Pick up the smooth green plastic bottle, swing wide around the plastic shampoo bottle with black pump, and set the smooth green plastic bottle upright.",
+    "With the left arm, take the medium green bottle with capped neck, pass outside the medium pink bottle for shampoo, and put the medium green bottle with capped neck upright.",
+    "Take the handheld green bottle up, skirt the smooth pink plastic shampoo bottle, and put the handheld green bottle down upright.",
+    "Using the left arm, lift the plastic bottle, pass clear of the pink shampoo container with pump top, then place the plastic bottle upright.",
+    "Take the smooth green plastic bottle, keep clear of the smooth pink plastic shampoo bottle, and place the smooth green plastic bottle upright.",
+    "Move the smooth green bottle from its spot, skirt the pink shampoo bottle, and stand the smooth green bottle upright.",
+    "With the left arm, take the medium green bottle, avoid the pink shampoo container with pump top while moving, and set the medium green bottle upright.",
+    "Grab the smooth green plastic bottle, move it without crossing the pink bottle with narrow top, then place the smooth green plastic bottle upright.",
+    "With the left arm, take the smooth green plastic bottle up, steer past the pink shampoo container with pump top, and place the smooth green plastic bottle upright.",
+    "Lift the plastic bottle, keep its path away from the hand-sized pink shampoo container, and set the plastic bottle upright.",
+    "Take the medium green bottle, route it away from the shampoo bottle with shiny pink body, and place the medium green bottle upright.",
+    "Direct the left arm to pick the smooth green bottle up, avoid the medium pink bottle for shampoo, and stand the smooth green bottle upright.",
+    "Using the left arm, lift the green bottle with indented base, keep clear of the pink bottle with narrow top, and place the green bottle with indented base upright.",
+    "Lift the green bottle with indented base, guide it around the pink bottle with narrow top, then stand the green bottle with indented base upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the pink bottle with narrow top, set the bottle with white printed label upright.",
+    "Using the left arm, pick the smooth green bottle up, keep clear of the pink shampoo bottle, place the smooth green bottle upright.",
+    "Pick up the bottle with ridges near base with the left arm, keep it away from the pink shampoo container with pump top, place the bottle with ridges near base upright.",
+    "Move the medium-sized green bottle away from the shampoo bottle with rectangular shape as you lift, then place the medium-sized green bottle upright.",
+    "Take the medium green bottle, move it without nearing the plastic shampoo bottle with black pump, and stand the medium green bottle upright.",
+    "Use the left arm, raise the smooth green plastic bottle, keep distance from the medium pink bottle for shampoo, then place the smooth green plastic bottle upright.",
+    "With the left arm, secure the bottle with ridges near base, pass around the rectangular pink bottle with dispenser, and set the bottle with ridges near base upright.",
+    "Lift the handheld green bottle, route its path away from the rectangular pink shampoo container, then set the handheld green bottle upright.",
+    "With the left arm, lift the green bottle with indented base, keep it away from the hand-sized pink shampoo container, place the green bottle with indented base upright.",
+    "Grab the bottle with ridges near base, carry it around the shampoo bottle with rectangular shape, then stand the bottle with ridges near base upright.",
+    "Using the left arm, grasp the bottle with white printed label, move it past the smooth pink plastic shampoo bottle, then stand the bottle with white printed label up.",
+    "Grab the medium green bottle with capped neck, steer it around the plastic shampoo bottle with black pump, and place the medium green bottle with capped neck upright.",
+    "Grab the medium green bottle, keep it away from the plastic shampoo bottle with black pump, and put the medium green bottle down upright.",
+    "Grip the smooth green plastic bottle with the left arm, keep distance from the shampoo bottle with rectangular shape, then set the smooth green plastic bottle upright.",
+    "Have the left arm grasp the smooth green plastic bottle, avoid the pink shampoo bottle while moving, and set the smooth green plastic bottle upright.",
+    "Grab the medium green bottle with capped neck, keep it from the plastic shampoo bottle with black pump, and set the medium green bottle with capped neck upright.",
+    "Lift the plastic bottle, route it around the pink bottle with narrow top, then set the plastic bottle upright.",
+    "Pick up the medium green bottle, route it around the shampoo bottle with rectangular shape, then stand the medium green bottle upright.",
+    "Pick the smooth green bottle up, keep its path clear of the pink bottle with narrow top, place the smooth green bottle upright.",
+    "Use the left arm to lift the bottle with rounded neck, avoid the plastic shampoo bottle with black pump en route, and stand the bottle with rounded neck up.",
+    "Guide the left arm to take the handheld green bottle, bypass the pink bottle with black dispenser, and place the handheld green bottle upright.",
+    "With the left arm, pick the bottle with rounded neck up, avoid the smooth pink plastic shampoo bottle, and put the bottle with rounded neck upright.",
+    "With the left arm, pick up the smooth green bottle, steer away from the pink bottle with black dispenser, and stand the smooth green bottle up.",
+    "Grab the bottle with ridges near base, avoid the pink bottle with black dispenser while moving, then place the bottle with ridges near base upright.",
+    "Lift the bottle with white printed label, keep its path clear of the medium pink bottle for shampoo, then set the bottle with white printed label upright.",
+    "Use the left arm to pick the green bottle with indented base up, avoid the medium pink bottle for shampoo, and place the green bottle with indented base upright.",
+    "Pick up the bottle with rounded neck, swing wide around the shampoo bottle with shiny pink body, and set the bottle with rounded neck upright.",
+    "With the left arm, take the bottle with ridges near base, pass outside the pink shampoo container with pump top, and put the bottle with ridges near base upright.",
+    "Take the smooth green bottle up, skirt the pink bottle with narrow top, and put the smooth green bottle down upright.",
+    "Using the left arm, lift the bottle with white printed label, pass clear of the plastic shampoo bottle with black pump, then place the bottle with white printed label upright.",
+    "Take the medium green bottle with capped neck, keep clear of the rectangular pink bottle with dispenser, and place the medium green bottle with capped neck upright.",
+    "Move the plastic bottle from its spot, skirt the smooth pink plastic shampoo bottle, and stand the plastic bottle upright.",
+    "With the left arm, take the medium green bottle, avoid the plastic shampoo bottle with black pump while moving, and set the medium green bottle upright.",
+    "Grab the smooth green plastic bottle, move it without crossing the hand-sized pink shampoo container, then place the smooth green plastic bottle upright.",
+    "With the left arm, take the plastic bottle up, steer past the rectangular pink bottle with dispenser, and place the plastic bottle upright.",
+    "Lift the smooth green bottle, keep its path away from the plastic shampoo bottle with black pump, and set the smooth green bottle upright.",
+    "Take the handheld green bottle, route it away from the hand-sized pink shampoo container, and place the handheld green bottle upright.",
+    "Direct the left arm to pick the bottle with ridges near base up, avoid the shampoo bottle with shiny pink body, and stand the bottle with ridges near base upright.",
+    "Using the left arm, lift the bottle with white printed label, keep clear of the hand-sized pink shampoo container, and place the bottle with white printed label upright.",
+    "Lift the bottle with rounded neck, guide it around the pink bottle with narrow top, then stand the bottle with rounded neck upright.",
+    "Use the left arm to grab the bottle with white printed label, carry it away from the rectangular pink bottle with dispenser, set the bottle with white printed label upright.",
+    "Using the left arm, pick the smooth green bottle up, keep clear of the medium pink bottle for shampoo, place the smooth green bottle upright.",
+    "Pick up the bottle with rounded neck with the left arm, keep it away from the medium pink bottle for shampoo, place the bottle with rounded neck upright.",
+    "Move the medium green bottle with capped neck away from the pink bottle with narrow top as you lift, then place the medium green bottle with capped neck upright."
+  ],
+  "unseen": [
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with black pump, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the glossy pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with black pump, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the plastic pink shampoo bottle, and place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with black pump, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with black pump, then place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with black pump, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with black pump, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the glossy pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the glossy pink shampoo bottle, and place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the glossy pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the shampoo bottle with black pump, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the plastic pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with black pump, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the plastic pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with black pump, and place the green bottle upright.",
+    "Grab the green bottle with white label, carry it clear of the plastic pink shampoo bottle, then set the green bottle with white label upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the glossy pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the glossy pink shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the plastic pink shampoo bottle, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the glossy pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the plastic pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo bottle with black pump, then set the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, guide it around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo bottle with black pump, and set the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the plastic pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo bottle with black pump, and set it upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo bottle with black pump, and place the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo bottle with black pump, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the plastic pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo bottle with black pump, then place the green bottle upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the shampoo bottle with black pump, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo bottle with black pump, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the glossy pink shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the plastic pink shampoo bottle, and place the green bottle upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo bottle with black pump, then place the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo bottle with black pump, then place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the glossy pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the glossy pink shampoo bottle, and set the green bottle with white label upright.",
+    "Grab the green bottle with white label, move it clear of the glossy pink shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the glossy pink shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the plastic pink shampoo bottle, then set the green bottle upright.",
+    "Pick up the green bottle, guide it around the glossy pink shampoo bottle, then place the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the plastic pink shampoo bottle, then place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the plastic pink shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the glossy pink shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, move it clear of the shampoo bottle with black pump, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the plastic pink shampoo bottle, and set it upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo bottle with black pump, and place the green bottle upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode99.json b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dade471d6829ce5711bea9bce2ae6fa939e6ec7
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the green bottle with indented base, keep its path clear of the shampoo bottle with curved sides, then set the green bottle with indented base upright.",
+    "With the left arm, lift the medium-sized green bottle, keep it away from the shampoo bottle with curved sides, place the medium-sized green bottle upright.",
+    "Move the medium green bottle away from the bottle with hexagonal blue cap as you lift, then place the medium green bottle upright.",
+    "Take the handheld green bottle, move it without nearing the blue top shampoo bottle, and stand the handheld green bottle upright.",
+    "Grab the bottle with narrow top, carry it around the white and blue shampoo container, then stand the bottle with narrow top upright.",
+    "Move the green bottle with indented base from its spot, skirt the curved shampoo bottle, and stand the green bottle with indented base upright.",
+    "Lift the handheld green bottle, keep its path away from the plastic shampoo with orange label, and set the handheld green bottle upright.",
+    "With the left arm, pick up the smooth green bottle, steer away from the white and blue shampoo container, and stand the smooth green bottle up.",
+    "Lift the plastic bottle, route it around the shampoo bottle with blue cap, then set the plastic bottle upright.",
+    "Take the medium green bottle with capped neck, keep clear of the blue top shampoo bottle, and place the medium green bottle with capped neck upright.",
+    "With the left arm, pick the plastic bottle up, avoid the blue top shampoo bottle, and put the plastic bottle upright.",
+    "Using the left arm, lift the smooth green bottle, keep clear of the white and blue shampoo container, and place the smooth green bottle upright.",
+    "Use the left arm to grab the handheld green bottle, carry it away from the shampoo bottle with curved sides, set the handheld green bottle upright.",
+    "With the left arm, secure the smooth green bottle, pass around the shampoo bottle with curved sides, and set the smooth green bottle upright.",
+    "Grab the smooth green plastic bottle, move it without crossing the plastic shampoo bottle, then place the smooth green plastic bottle upright.",
+    "With the left arm, take the medium green bottle, pass outside the blue top shampoo bottle, and put the medium green bottle upright.",
+    "Pick up the smooth green bottle, route it around the curved shampoo bottle, then stand the smooth green bottle upright.",
+    "Grab the medium green bottle with capped neck, avoid the plastic shampoo bottle while moving, then place the medium green bottle with capped neck upright.",
+    "Direct the left arm to pick the medium green bottle with capped neck up, avoid the white and blue shampoo container, and stand the medium green bottle with capped neck upright.",
+    "Using the left arm, lift the plastic bottle, pass clear of the shampoo bottle with blue cap, then place the plastic bottle upright.",
+    "Using the left arm, pick the bottle with narrow top up, keep clear of the shampoo bottle with curved sides, place the bottle with narrow top upright.",
+    "Grip the bottle with narrow top with the left arm, keep distance from the curved shampoo bottle, then set the bottle with narrow top upright.",
+    "With the left arm, take the smooth green bottle up, steer past the bottle with smooth surface, and place the smooth green bottle upright.",
+    "Grab the bottle with ridges near base, steer it around the bottle with hexagonal blue cap, and place the bottle with ridges near base upright.",
+    "Lift the medium green bottle, route its path away from the white shampoo bottle, then set the medium green bottle upright.",
+    "Using the left arm, grasp the bottle with rounded neck, move it past the plastic shampoo bottle, then stand the bottle with rounded neck up.",
+    "Pick up the medium green bottle with capped neck, swing wide around the bottle with smooth surface, and set the medium green bottle with capped neck upright.",
+    "With the left arm, take the bottle with white printed label, avoid the white and blue shampoo container while moving, and set the bottle with white printed label upright.",
+    "Use the left arm, raise the bottle with ridges near base, keep distance from the handheld shampoo container, then place the bottle with ridges near base upright.",
+    "Take the bottle with white printed label up, skirt the shampoo bottle with curved sides, and put the bottle with white printed label down upright.",
+    "Pick the smooth green bottle up, keep its path clear of the plastic shampoo with orange label, place the smooth green bottle upright.",
+    "Use the left arm to pick the bottle with ridges near base up, avoid the handheld shampoo container, and place the bottle with ridges near base upright.",
+    "Have the left arm grasp the green bottle with indented base, avoid the medium-sized white plastic shampoo while moving, and set the green bottle with indented base upright.",
+    "Grab the plastic bottle, keep it from the medium-sized white plastic shampoo, and set the plastic bottle upright.",
+    "Lift the plastic bottle, guide it around the blue top shampoo bottle, then stand the plastic bottle upright.",
+    "Grab the bottle with white printed label, keep it away from the shampoo bottle with curved sides, and put the bottle with white printed label down upright.",
+    "Use the left arm to lift the bottle with rounded neck, avoid the shampoo bottle with curved sides en route, and stand the bottle with rounded neck up.",
+    "Take the bottle with rounded neck, route it away from the white and blue shampoo container, and place the bottle with rounded neck upright.",
+    "Guide the left arm to take the bottle with ridges near base, bypass the bottle with hexagonal blue cap, and place the bottle with ridges near base upright.",
+    "Pick up the medium-sized green bottle with the left arm, keep it away from the white shampoo bottle, place the medium-sized green bottle upright.",
+    "Lift the bottle with narrow top, keep its path clear of the medium-sized white plastic shampoo, then set the bottle with narrow top upright.",
+    "With the left arm, lift the smooth green plastic bottle, keep it away from the curved shampoo bottle, place the smooth green plastic bottle upright.",
+    "Move the bottle with white printed label away from the plastic shampoo bottle as you lift, then place the bottle with white printed label upright.",
+    "Take the bottle with narrow top, move it without nearing the white and blue shampoo container, and stand the bottle with narrow top upright.",
+    "Grab the smooth green plastic bottle, carry it around the white shampoo bottle, then stand the smooth green plastic bottle upright.",
+    "Move the plastic bottle from its spot, skirt the shampoo bottle with curved sides, and stand the plastic bottle upright.",
+    "Lift the medium green bottle, keep its path away from the shampoo bottle with curved sides, and set the medium green bottle upright.",
+    "With the left arm, pick up the bottle with rounded neck, steer away from the curved shampoo bottle, and stand the bottle with rounded neck up.",
+    "Lift the medium green bottle, route it around the plastic shampoo bottle, then set the medium green bottle upright.",
+    "Take the bottle with narrow top, keep clear of the medium-sized white plastic shampoo, and place the bottle with narrow top upright.",
+    "With the left arm, pick the medium green bottle with capped neck up, avoid the curved shampoo bottle, and put the medium green bottle with capped neck upright.",
+    "Using the left arm, lift the smooth green bottle, keep clear of the shampoo bottle with blue cap, and place the smooth green bottle upright.",
+    "Use the left arm to grab the plastic bottle, carry it away from the shampoo bottle with blue cap, set the plastic bottle upright.",
+    "With the left arm, secure the smooth green bottle, pass around the blue top shampoo bottle, and set the smooth green bottle upright.",
+    "Grab the bottle with ridges near base, move it without crossing the plastic shampoo with orange label, then place the bottle with ridges near base upright.",
+    "With the left arm, take the bottle with white printed label, pass outside the curved shampoo bottle, and put the bottle with white printed label upright.",
+    "Pick up the handheld green bottle, route it around the blue top shampoo bottle, then stand the handheld green bottle upright.",
+    "Grab the bottle with rounded neck, avoid the white and blue shampoo container while moving, then place the bottle with rounded neck upright.",
+    "Direct the left arm to pick the plastic bottle up, avoid the curved shampoo bottle, and stand the plastic bottle upright.",
+    "Using the left arm, lift the handheld green bottle, pass clear of the plastic shampoo bottle, then place the handheld green bottle upright.",
+    "Using the left arm, pick the bottle with rounded neck up, keep clear of the plastic shampoo with orange label, place the bottle with rounded neck upright.",
+    "Grip the bottle with ridges near base with the left arm, keep distance from the blue top shampoo bottle, then set the bottle with ridges near base upright.",
+    "With the left arm, take the smooth green bottle up, steer past the curved shampoo bottle, and place the smooth green bottle upright.",
+    "Grab the medium green bottle with capped neck, steer it around the white and blue shampoo container, and place the medium green bottle with capped neck upright.",
+    "Lift the plastic bottle, route its path away from the white and blue shampoo container, then set the plastic bottle upright.",
+    "Using the left arm, grasp the medium green bottle, move it past the handheld shampoo container, then stand the medium green bottle up.",
+    "Pick up the green bottle with indented base, swing wide around the blue top shampoo bottle, and set the green bottle with indented base upright.",
+    "With the left arm, take the bottle with rounded neck, avoid the curved shampoo bottle while moving, and set the bottle with rounded neck upright.",
+    "Use the left arm, raise the bottle with rounded neck, keep distance from the white and blue shampoo container, then place the bottle with rounded neck upright.",
+    "Take the medium green bottle up, skirt the curved shampoo bottle, and put the medium green bottle down upright.",
+    "Pick the bottle with narrow top up, keep its path clear of the bottle with hexagonal blue cap, place the bottle with narrow top upright.",
+    "Use the left arm to pick the smooth green bottle up, avoid the shampoo bottle with curved sides, and place the smooth green bottle upright.",
+    "Have the left arm grasp the medium green bottle, avoid the curved shampoo bottle while moving, and set the medium green bottle upright.",
+    "Grab the bottle with rounded neck, keep it from the shampoo bottle with blue cap, and set the bottle with rounded neck upright.",
+    "Lift the medium green bottle with capped neck, guide it around the shampoo bottle with curved sides, then stand the medium green bottle with capped neck upright.",
+    "Grab the bottle with ridges near base, keep it away from the handheld shampoo container, and put the bottle with ridges near base down upright.",
+    "Use the left arm to lift the medium green bottle, avoid the shampoo bottle with curved sides en route, and stand the medium green bottle up.",
+    "Take the handheld green bottle, route it away from the curved shampoo bottle, and place the handheld green bottle upright.",
+    "Guide the left arm to take the bottle with rounded neck, bypass the blue top shampoo bottle, and place the bottle with rounded neck upright.",
+    "Pick up the medium green bottle with the left arm, keep it away from the medium-sized white plastic shampoo, place the medium green bottle upright.",
+    "Lift the green bottle with indented base, keep its path clear of the plastic shampoo with orange label, then set the green bottle with indented base upright.",
+    "With the left arm, lift the medium green bottle, keep it away from the white shampoo bottle, place the medium green bottle upright.",
+    "Move the handheld green bottle away from the blue top shampoo bottle as you lift, then place the handheld green bottle upright.",
+    "Take the plastic bottle, move it without nearing the bottle with smooth surface, and stand the plastic bottle upright.",
+    "Grab the smooth green plastic bottle, carry it around the plastic shampoo with orange label, then stand the smooth green plastic bottle upright.",
+    "Move the bottle with narrow top from its spot, skirt the plastic shampoo with orange label, and stand the bottle with narrow top upright.",
+    "Lift the bottle with ridges near base, keep its path away from the bottle with hexagonal blue cap, and set the bottle with ridges near base upright.",
+    "With the left arm, pick up the green bottle with indented base, steer away from the blue top shampoo bottle, and stand the green bottle with indented base up.",
+    "Lift the smooth green bottle, route it around the medium-sized white plastic shampoo, then set the smooth green bottle upright.",
+    "Take the handheld green bottle, keep clear of the plastic shampoo bottle, and place the handheld green bottle upright.",
+    "With the left arm, pick the bottle with narrow top up, avoid the white shampoo bottle, and put the bottle with narrow top upright.",
+    "Using the left arm, lift the medium green bottle, keep clear of the white shampoo bottle, and place the medium green bottle upright.",
+    "Use the left arm to grab the bottle with narrow top, carry it away from the handheld shampoo container, set the bottle with narrow top upright.",
+    "With the left arm, secure the green bottle with indented base, pass around the bottle with hexagonal blue cap, and set the green bottle with indented base upright.",
+    "Grab the smooth green plastic bottle, move it without crossing the bottle with smooth surface, then place the smooth green plastic bottle upright.",
+    "With the left arm, take the medium green bottle, pass outside the plastic shampoo bottle, and put the medium green bottle upright.",
+    "Pick up the bottle with rounded neck, route it around the plastic shampoo with orange label, then stand the bottle with rounded neck upright.",
+    "Grab the green bottle with indented base, avoid the handheld shampoo container while moving, then place the green bottle with indented base upright.",
+    "Direct the left arm to pick the bottle with rounded neck up, avoid the bottle with smooth surface, and stand the bottle with rounded neck upright.",
+    "Using the left arm, lift the medium green bottle with capped neck, pass clear of the bottle with smooth surface, then place the medium green bottle with capped neck upright."
+  ],
+  "unseen": [
+    "Grab the green bottle with white label, move it clear of the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the shampoo container in white and blue, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the white shampoo with orange design, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green bottle, guide it around the white shampoo with orange design, then place the green bottle upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the white shampoo with orange design, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Grab the green bottle, move it clear of the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green bottle with white label, move it clear of the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle, carry it clear of the shampoo container in white and blue, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the white shampoo with orange design, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Using the left arm, grab the green bottle, move around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Grab the green bottle, move it clear of the blue-capped shampoo bottle, then place the green bottle upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the white shampoo with orange design, and set the green bottle with white label upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle, move around the shampoo container in white and blue, and place the green bottle upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle with white label, move around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the shampoo container in white and blue, then place the green bottle with white label upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the shampoo container in white and blue, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle with white label, carry it clear of the shampoo container in white and blue, then set the green bottle with white label upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, and place the green plastic bottle with ridged bottom upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the blue-capped shampoo bottle, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green plastic bottle with ridged bottom, carry it clear of the white shampoo with orange design, and set the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the shampoo container in white and blue, and place the green bottle with white label upright.",
+    "Pick up the green plastic bottle with ridged bottom, steer it clear of the blue-capped shampoo bottle, and set the green plastic bottle with ridged bottom upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the white shampoo with orange design, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the shampoo container in white and blue, and set it upright.",
+    "Pick up the green bottle, guide it around the blue-capped shampoo bottle, then place the green bottle upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Grab the green bottle, carry it clear of the shampoo container in white and blue, then set the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle, steer it clear of the white shampoo with orange design, and set the green bottle upright.",
+    "Using the left arm, grab the green plastic bottle with ridged bottom, move around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Grab the green bottle, move it clear of the shampoo container in white and blue, then place the green bottle upright.",
+    "Use the left arm to grab the green bottle with white label, carry it around the white shampoo with orange design, and set it upright.",
+    "Pick up the green plastic bottle with ridged bottom, guide it around the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "With the left arm, grab the green bottle, carry it clear of the blue-capped shampoo bottle, and set the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, carry it clear of the blue-capped shampoo bottle, then set the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green bottle with white label, move around the blue-capped shampoo bottle, and place the green bottle with white label upright.",
+    "Pick up the green bottle with white label, steer it clear of the shampoo container in white and blue, and set the green bottle with white label upright.",
+    "Using the left arm, grab the green bottle, move around the white shampoo with orange design, then place the green bottle upright.",
+    "Grab the green plastic bottle with ridged bottom, move it clear of the shampoo container in white and blue, then place the green plastic bottle with ridged bottom upright.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom, carry it around the blue-capped shampoo bottle, and set it upright.",
+    "Pick up the green bottle with white label, guide it around the blue-capped shampoo bottle, then place the green bottle with white label upright.",
+    "With the left arm, grab the green bottle with white label, carry it clear of the blue-capped shampoo bottle, and set the green bottle with white label upright."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle_wp2/adjust_bottle_wp2/scene_info.json b/adjust_bottle_wp2/adjust_bottle_wp2/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..581b592b3d32f474fe90f3e9ac4f5f8f28d2e36b
--- /dev/null
+++ b/adjust_bottle_wp2/adjust_bottle_wp2/scene_info.json
@@ -0,0 +1,1202 @@
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