Upload adjust_bottle_oc2

.gitattributes

@@ -163,3 +163,8 @@ adjust_bottle_oc1/adjust_bottle_oc1/data/episode1.hdf5 filter=lfs diff=lfs merge
 adjust_bottle_oc1/adjust_bottle_oc1/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
 adjust_bottle_oc1/adjust_bottle_oc1/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
 adjust_bottle_oc1/adjust_bottle_oc1/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+adjust_bottle_oc2/adjust_bottle_oc2/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+adjust_bottle_oc2/adjust_bottle_oc2/data/episode1.hdf5 filter=lfs diff=lfs merge=lfs -text
+adjust_bottle_oc2/adjust_bottle_oc2/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+adjust_bottle_oc2/adjust_bottle_oc2/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
+adjust_bottle_oc2/adjust_bottle_oc2/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text

adjust_bottle_oc2/adjust_bottle_oc2/_traj_data/episode0.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a414660aa6de1abfe90196385fec1b181a2fed2d70ea805ee88a377f45440f68
+size 86190

adjust_bottle_oc2/adjust_bottle_oc2/_traj_data/episode1.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc9492cac1d5c468a2a723dc7c484dd485c287a5eeb97425fe3c057e1193bcc
+size 88062

adjust_bottle_oc2/adjust_bottle_oc2/_traj_data/episode2.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cdb545569955bad49341b9402de67b68b5e30b350de141b13d130cb2ed0fac1
+size 87678

adjust_bottle_oc2/adjust_bottle_oc2/_traj_data/episode3.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d0d518276006d5f0313a575879c853b673f595ae691c5eb4f44b973e9c7a6a
+size 89406

adjust_bottle_oc2/adjust_bottle_oc2/_traj_data/episode4.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f726368e85177c571f737f516beb47e825352e95bf2d37bee912e4a4c38af750
+size 92814

adjust_bottle_oc2/adjust_bottle_oc2/data/episode0.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed06543da9273267596f4f92001a4ad90103c30172e3ac30a983564ac4d2eeb8
+size 11167898

adjust_bottle_oc2/adjust_bottle_oc2/data/episode1.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcfab4565f7f5075a716c6558984523a975f0d30e132c7b525560d4262dfce6a
+size 10707117

adjust_bottle_oc2/adjust_bottle_oc2/data/episode2.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54755d231fd74cbe93c203fff0416ffa74918ec8256bd757e812db923a6f18a3
+size 10458520

adjust_bottle_oc2/adjust_bottle_oc2/data/episode3.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f588921a5916c65d029d11ac5330f40069875e22ffb5f97247d72a1a8de873d
+size 10779879

adjust_bottle_oc2/adjust_bottle_oc2/data/episode4.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6adbb9110a125ddaceeaa3b6a78e39937b318db3b488364d3105e83a7ab2daa5
+size 11142430

adjust_bottle_oc2/adjust_bottle_oc2/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with narrow top and place it standing at target.",
+    "With the left arm, stand the bottle with white printed label upright on the table.",
+    "Pick up the medium green bottle with capped neck and place it standing at the target.",
+    "Grab the bottle with white printed label, reorient upright, set on table.",
+    "Grab the handheld green bottle with the left arm and set it down upright.",
+    "Take the smooth green bottle and set it upright on the table.",
+    "Place the smooth green bottle upright on the table with the left arm.",
+    "Use the left arm to grab and stand the bottle with ridges near base on table.",
+    "Use the left arm to grab the medium-sized green bottle and stand it on table.",
+    "Lift the bottle with ridges near base and set it upright on table.",
+    "Grab the smooth green plastic bottle and put it standing on the table.",
+    "With the left arm, grab the medium green bottle with capped neck and stand it on the table.",
+    "Grab the bottle with ridges near base with the left arm, reorient upright, place on table.",
+    "Lift the smooth green bottle and stand it on the table.",
+    "Take the bottle with rounded neck and place upright on the table.",
+    "Pick the smooth green plastic bottle and place it standing on the table.",
+    "Grab the bottle with ridges near base with the left arm, stand on table.",
+    "Lift the handheld green bottle upright and set it on the table.",
+    "Lift the medium-sized green bottle with the left arm, reorient, and set down upright.",
+    "Stand the medium green bottle up on the table with the left arm.",
+    "Pick the bottle with white printed label up and stand it on the table.",
+    "Stand the green bottle with indented base upright on the table after lifting.",
+    "Use the left arm to pick up the bottle with ridges near base and set it upright.",
+    "Use the left arm to pick up the bottle with white printed label and place standing.",
+    "Use the left arm to reorient the bottle with white printed label and place on table.",
+    "With the left arm, lift the bottle with white printed label and place upright on table.",
+    "Lift the bottle with narrow top and put it standing on the table.",
+    "Grab the handheld green bottle and set it standing on the table.",
+    "Pick up the handheld green bottle and stand it upright on the table.",
+    "With the left arm, pick the bottle with white printed label up and set standing on table.",
+    "Reorient the bottle with narrow top upright and place on table.",
+    "Take the green bottle with indented base up and place standing on table.",
+    "Pick up the plastic bottle and put it upright on table.",
+    "Lift the bottle with white printed label, turn it upright, and put it down standing.",
+    "Pick up the smooth green bottle and stand it at the target.",
+    "Pick the handheld green bottle up, stand it, and place on the table.",
+    "Take the handheld green bottle with the left arm and stand it on the table.",
+    "Grab the bottle with rounded neck and place it upright on the table.",
+    "Use the left arm to stand the medium green bottle on the table.",
+    "Use the left arm to lift the medium green bottle and set it standing on the table.",
+    "Grab the medium green bottle with capped neck and place it standing at target.",
+    "With the left arm, stand the handheld green bottle upright on the table.",
+    "Pick up the medium-sized green bottle and place it standing at the target.",
+    "Grab the smooth green bottle, reorient upright, set on table.",
+    "Grab the plastic bottle with the left arm and set it down upright.",
+    "Take the medium-sized green bottle and set it upright on the table.",
+    "Place the handheld green bottle upright on the table with the left arm.",
+    "Use the left arm to grab and stand the medium green bottle on table.",
+    "Use the left arm to grab the medium green bottle and stand it on table.",
+    "Lift the handheld green bottle and set it upright on table.",
+    "Grab the plastic bottle and put it standing on the table.",
+    "With the left arm, grab the handheld green bottle and stand it on the table.",
+    "Grab the bottle with white printed label with the left arm, reorient upright, place on table.",
+    "Lift the handheld green bottle and stand it on the table.",
+    "Take the bottle with narrow top and place upright on the table.",
+    "Pick the medium green bottle and place it standing on the table.",
+    "Grab the smooth green plastic bottle with the left arm, stand on table.",
+    "Lift the green bottle with indented base upright and set it on the table.",
+    "Lift the medium-sized green bottle with the left arm, reorient, and set down upright.",
+    "Stand the bottle with rounded neck up on the table with the left arm.",
+    "Pick the smooth green bottle up and stand it on the table.",
+    "Stand the bottle with narrow top upright on the table after lifting.",
+    "Use the left arm to pick up the medium green bottle with capped neck and set it upright.",
+    "Use the left arm to pick up the plastic bottle and place standing.",
+    "Use the left arm to reorient the bottle with narrow top and place on table.",
+    "With the left arm, lift the handheld green bottle and place upright on table.",
+    "Lift the handheld green bottle and put it standing on the table.",
+    "Grab the medium-sized green bottle and set it standing on the table.",
+    "Pick up the handheld green bottle and stand it upright on the table.",
+    "With the left arm, pick the medium-sized green bottle up and set standing on table.",
+    "Reorient the medium-sized green bottle upright and place on table.",
+    "Take the medium green bottle with capped neck up and place standing on table.",
+    "Pick up the bottle with narrow top and put it upright on table.",
+    "Lift the plastic bottle, turn it upright, and put it down standing.",
+    "Pick up the bottle with narrow top and stand it at the target.",
+    "Pick the handheld green bottle up, stand it, and place on the table.",
+    "Take the medium-sized green bottle with the left arm and stand it on the table.",
+    "Grab the bottle with ridges near base and place it upright on the table.",
+    "Use the left arm to stand the bottle with rounded neck on the table.",
+    "Use the left arm to lift the bottle with ridges near base and set it standing on the table.",
+    "Grab the green bottle with indented base and place it standing at target.",
+    "With the left arm, stand the smooth green plastic bottle upright on the table.",
+    "Pick up the bottle with white printed label and place it standing at the target.",
+    "Grab the smooth green bottle, reorient upright, set on table.",
+    "Grab the smooth green plastic bottle with the left arm and set it down upright.",
+    "Take the plastic bottle and set it upright on the table.",
+    "Place the bottle with rounded neck upright on the table with the left arm.",
+    "Use the left arm to grab and stand the medium green bottle with capped neck on table.",
+    "Use the left arm to grab the plastic bottle and stand it on table.",
+    "Lift the smooth green bottle and set it upright on table.",
+    "Grab the bottle with white printed label and put it standing on the table.",
+    "With the left arm, grab the plastic bottle and stand it on the table.",
+    "Grab the medium green bottle with capped neck with the left arm, reorient upright, place on table.",
+    "Lift the medium-sized green bottle and stand it on the table.",
+    "Take the medium-sized green bottle and place upright on the table.",
+    "Pick the medium-sized green bottle and place it standing on the table.",
+    "Grab the medium green bottle with the left arm, stand on table.",
+    "Lift the bottle with rounded neck upright and set it on the table.",
+    "Lift the handheld green bottle with the left arm, reorient, and set down upright.",
+    "Stand the smooth green bottle up on the table with the left arm."
+  ],
+  "unseen": [
+    "Set the green bottle upright on the table.",
+    "Reorient the green bottle and set on table.",
+    "Stand the green bottle on the table using the left arm.",
+    "Put the green plastic bottle with ridged bottom standing on the table.",
+    "Place the green bottle with white label standing on the table.",
+    "Lift and stand the green plastic bottle with ridged bottom on the table.",
+    "Stand the green plastic bottle with ridged bottom upright on the table.",
+    "Set the green bottle standing at the target.",
+    "Grab the green bottle with white label and stand on table.",
+    "Pick the green bottle with white label and place upright on table.",
+    "Set the green bottle upright on the table.",
+    "Reorient the green plastic bottle with ridged bottom and set on table.",
+    "Stand the green bottle with white label on the table using the left arm.",
+    "Put the green bottle standing on the table.",
+    "Place the green plastic bottle with ridged bottom standing on the table.",
+    "Lift and stand the green plastic bottle with ridged bottom on the table.",
+    "Stand the green bottle upright on the table.",
+    "Set the green plastic bottle with ridged bottom standing at the target.",
+    "Grab the green bottle and stand on table.",
+    "Pick the green plastic bottle with ridged bottom and place upright on table.",
+    "Set the green bottle with white label upright on the table.",
+    "Reorient the green bottle and set on table.",
+    "Stand the green bottle with white label on the table using the left arm.",
+    "Put the green plastic bottle with ridged bottom standing on the table.",
+    "Place the green plastic bottle with ridged bottom standing on the table.",
+    "Lift and stand the green bottle with white label on the table.",
+    "Stand the green bottle with white label upright on the table.",
+    "Set the green bottle standing at the target.",
+    "Grab the green bottle and stand on table.",
+    "Pick the green bottle with white label and place upright on table.",
+    "Set the green bottle with white label upright on the table.",
+    "Reorient the green bottle with white label and set on table.",
+    "Stand the green bottle with white label on the table using the left arm.",
+    "Put the green bottle standing on the table.",
+    "Place the green bottle standing on the table.",
+    "Lift and stand the green plastic bottle with ridged bottom on the table.",
+    "Stand the green bottle upright on the table.",
+    "Set the green plastic bottle with ridged bottom standing at the target.",
+    "Grab the green plastic bottle with ridged bottom and stand on table.",
+    "Pick the green plastic bottle with ridged bottom and place upright on table.",
+    "Set the green bottle with white label upright on the table.",
+    "Reorient the green bottle and set on table.",
+    "Stand the green plastic bottle with ridged bottom on the table using the left arm.",
+    "Put the green bottle standing on the table.",
+    "Place the green bottle standing on the table.",
+    "Lift and stand the green bottle with white label on the table.",
+    "Stand the green bottle with white label upright on the table.",
+    "Set the green bottle with white label standing at the target.",
+    "Grab the green bottle and stand on table.",
+    "Pick the green bottle and place upright on table.",
+    "Set the green plastic bottle with ridged bottom upright on the table.",
+    "Reorient the green bottle and set on table.",
+    "Stand the green plastic bottle with ridged bottom on the table using the left arm.",
+    "Put the green plastic bottle with ridged bottom standing on the table.",
+    "Place the green bottle with white label standing on the table.",
+    "Lift and stand the green plastic bottle with ridged bottom on the table.",
+    "Stand the green bottle upright on the table.",
+    "Set the green bottle with white label standing at the target.",
+    "Grab the green bottle with white label and stand on table.",
+    "Pick the green bottle and place upright on table.",
+    "Set the green bottle with white label upright on the table.",
+    "Reorient the green bottle with white label and set on table.",
+    "Stand the green plastic bottle with ridged bottom on the table using the left arm.",
+    "Put the green bottle with white label standing on the table.",
+    "Place the green bottle with white label standing on the table.",
+    "Lift and stand the green plastic bottle with ridged bottom on the table.",
+    "Stand the green plastic bottle with ridged bottom upright on the table.",
+    "Set the green bottle standing at the target.",
+    "Grab the green plastic bottle with ridged bottom and stand on table.",
+    "Pick the green bottle and place upright on table.",
+    "Set the green plastic bottle with ridged bottom upright on the table.",
+    "Reorient the green plastic bottle with ridged bottom and set on table.",
+    "Stand the green bottle on the table using the left arm.",
+    "Put the green plastic bottle with ridged bottom standing on the table.",
+    "Place the green bottle with white label standing on the table.",
+    "Lift and stand the green bottle with white label on the table.",
+    "Stand the green bottle upright on the table.",
+    "Set the green plastic bottle with ridged bottom standing at the target.",
+    "Grab the green plastic bottle with ridged bottom and stand on table.",
+    "Pick the green bottle and place upright on table.",
+    "Set the green bottle upright on the table.",
+    "Reorient the green bottle with white label and set on table.",
+    "Stand the green bottle on the table using the left arm.",
+    "Put the green bottle standing on the table.",
+    "Place the green bottle standing on the table.",
+    "Lift and stand the green plastic bottle with ridged bottom on the table.",
+    "Stand the green plastic bottle with ridged bottom upright on the table.",
+    "Set the green bottle with white label standing at the target.",
+    "Grab the green bottle and stand on table.",
+    "Pick the green plastic bottle with ridged bottom and place upright on table.",
+    "Set the green bottle upright on the table.",
+    "Reorient the green plastic bottle with ridged bottom and set on table.",
+    "Stand the green plastic bottle with ridged bottom on the table using the left arm.",
+    "Put the green bottle with white label standing on the table.",
+    "Place the green bottle standing on the table.",
+    "Lift and stand the green bottle on the table.",
+    "Stand the green bottle with white label upright on the table.",
+    "Set the green bottle standing at the target.",
+    "Grab the green bottle and stand on table.",
+    "Pick the green bottle and place upright on table."
+  ]
+}

adjust_bottle_oc2/adjust_bottle_oc2/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the Coca-Cola bottle and put it standing on the table.",
+    "Use the left arm to pick up the long thin bottle and set it upright.",
+    "Lift the bottle with white neck and red top and set it upright on table.",
+    "With the left arm, pick the brown bottle with red label up and set standing on table.",
+    "Use the left arm to lift the hand-sized soda bottle and set it standing on the table.",
+    "Lift the red-capped bottle with the left arm, reorient, and set down upright.",
+    "Lift the dark drink bottle with logo and put it standing on the table.",
+    "Grab the medium dark brown bottle with the left arm and set it down upright.",
+    "Use the left arm to grab the red-capped bottle and stand it on table.",
+    "Lift the medium dark brown bottle and stand it on the table.",
+    "Pick up the medium dark brown bottle and place it standing at the target.",
+    "Grab the medium dark brown bottle, reorient upright, set on table.",
+    "Use the left arm to grab and stand the smooth bottle with red lid on table.",
+    "With the left arm, grab the Coca-Cola bottle and stand it on the table.",
+    "Pick the long thin bottle up, stand it, and place on the table.",
+    "Grab the medium dark brown bottle and place it standing at target.",
+    "Place the hand-sized soda bottle upright on the table with the left arm.",
+    "Lift the red-capped bottle upright and set it on the table.",
+    "Pick up the brown bottle with red label and put it upright on table.",
+    "Pick up the Coca-Cola bottle and stand it at the target.",
+    "Pick up the dark drink bottle with logo and stand it upright on the table.",
+    "Use the left arm to reorient the dark drink bottle with logo and place on table.",
+    "Lift the bottle with white neck and red top, turn it upright, and put it down standing.",
+    "Grab the bottle with ridges on bottom with the left arm, stand on table.",
+    "Grab the hand-sized soda bottle and place it upright on the table.",
+    "Use the left arm to stand the red-capped bottle on the table.",
+    "Use the left arm to pick up the hand-sized soda bottle and place standing.",
+    "Reorient the hand-sized soda bottle upright and place on table.",
+    "Pick the bottle with white neck and red top up and stand it on the table.",
+    "Stand the bottle with ridges on bottom up on the table with the left arm.",
+    "Grab the smooth bottle with red lid with the left arm, reorient upright, place on table.",
+    "Take the plastic drink bottle up and place standing on table.",
+    "Stand the Coca-Cola bottle upright on the table after lifting.",
+    "Grab the medium dark brown bottle and set it standing on the table.",
+    "Pick the red-capped bottle and place it standing on the table.",
+    "With the left arm, stand the long thin bottle upright on the table.",
+    "With the left arm, lift the red-capped bottle and place upright on table.",
+    "Take the bottle with white neck and red top with the left arm and stand it on the table.",
+    "Take the red-capped bottle and place upright on the table.",
+    "Take the medium dark brown bottle and set it upright on the table.",
+    "Grab the plastic drink bottle and put it standing on the table.",
+    "Use the left arm to pick up the Coca-Cola bottle and set it upright.",
+    "Lift the Coca-Cola bottle and set it upright on table.",
+    "With the left arm, pick the Coca-Cola bottle up and set standing on table.",
+    "Use the left arm to lift the hand-sized soda bottle and set it standing on the table.",
+    "Lift the hand-sized soda bottle with the left arm, reorient, and set down upright.",
+    "Lift the plastic drink bottle and put it standing on the table.",
+    "Grab the plastic drink bottle with the left arm and set it down upright.",
+    "Use the left arm to grab the dark drink bottle with logo and stand it on table.",
+    "Lift the medium dark brown bottle and stand it on the table.",
+    "Pick up the red-capped bottle and place it standing at the target.",
+    "Grab the bottle with ridges on bottom, reorient upright, set on table.",
+    "Use the left arm to grab and stand the bottle with white neck and red top on table.",
+    "With the left arm, grab the long thin bottle and stand it on the table.",
+    "Pick the red-capped bottle up, stand it, and place on the table.",
+    "Grab the smooth bottle with red lid and place it standing at target.",
+    "Place the medium dark brown bottle upright on the table with the left arm.",
+    "Lift the smooth bottle with red lid upright and set it on the table.",
+    "Pick up the smooth bottle with red lid and put it upright on table.",
+    "Pick up the red-capped bottle and stand it at the target.",
+    "Pick up the long thin bottle and stand it upright on the table.",
+    "Use the left arm to reorient the long thin bottle and place on table.",
+    "Lift the Coca-Cola bottle, turn it upright, and put it down standing.",
+    "Grab the bottle with white neck and red top with the left arm, stand on table.",
+    "Grab the bottle with white neck and red top and place it upright on the table.",
+    "Use the left arm to stand the smooth bottle with red lid on the table.",
+    "Use the left arm to pick up the bottle with ridges on bottom and place standing.",
+    "Reorient the bottle with white neck and red top upright and place on table.",
+    "Pick the smooth bottle with red lid up and stand it on the table.",
+    "Stand the plastic drink bottle up on the table with the left arm.",
+    "Grab the medium dark brown bottle with the left arm, reorient upright, place on table.",
+    "Take the smooth bottle with red lid up and place standing on table.",
+    "Stand the red-capped bottle upright on the table after lifting.",
+    "Grab the plastic drink bottle and set it standing on the table.",
+    "Pick the red-capped bottle and place it standing on the table.",
+    "With the left arm, stand the narrow-necked bottle upright on the table.",
+    "With the left arm, lift the bottle with ridges on bottom and place upright on table.",
+    "Take the Coca-Cola bottle with the left arm and stand it on the table.",
+    "Take the bottle with white neck and red top and place upright on the table.",
+    "Take the hand-sized soda bottle and set it upright on the table.",
+    "Grab the bottle with ridges on bottom and put it standing on the table.",
+    "Use the left arm to pick up the narrow-necked bottle and set it upright.",
+    "Lift the narrow-necked bottle and set it upright on table.",
+    "With the left arm, pick the bottle with white neck and red top up and set standing on table.",
+    "Use the left arm to lift the brown bottle with red label and set it standing on the table.",
+    "Lift the narrow-necked bottle with the left arm, reorient, and set down upright.",
+    "Lift the long thin bottle and put it standing on the table.",
+    "Grab the dark drink bottle with logo with the left arm and set it down upright.",
+    "Use the left arm to grab the bottle with white neck and red top and stand it on table.",
+    "Lift the plastic drink bottle and stand it on the table.",
+    "Pick up the brown bottle with red label and place it standing at the target.",
+    "Grab the narrow-necked bottle, reorient upright, set on table.",
+    "Use the left arm to grab and stand the red-capped bottle on table.",
+    "With the left arm, grab the bottle with white neck and red top and stand it on the table.",
+    "Pick the plastic drink bottle up, stand it, and place on the table.",
+    "Grab the dark drink bottle with logo and place it standing at target.",
+    "Place the long thin bottle upright on the table with the left arm.",
+    "Lift the bottle with white neck and red top upright and set it on the table.",
+    "Pick up the red-capped bottle and put it upright on table.",
+    "Pick up the bottle with ridges on bottom and stand it at the target."
+  ],
+  "unseen": [
+    "Place the plastic soda bottle standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Place the plastic soda bottle standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the brown bottle and place upright on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the brown bottle standing at the target.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Grab the brown bottle and stand on table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the brown bottle and place upright on table.",
+    "Stand the brown bottle upright on the table.",
+    "Put the brown bottle standing on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the brown bottle and stand on table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Put the brown bottle standing on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Grab the brown bottle and stand on table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the brown bottle upright on the table.",
+    "Put the brown bottle standing on the table.",
+    "Set the brown bottle upright on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Put the brown bottle standing on the table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the brown bottle standing at the target.",
+    "Place the plastic soda bottle standing on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Stand the brown bottle upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Set the brown bottle upright on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Grab the brown bottle and stand on table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the brown bottle and place upright on table.",
+    "Stand the brown bottle upright on the table.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the brown bottle standing at the target.",
+    "Place the brown bottle standing on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Place the brown bottle standing on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the plastic soda bottle standing at the target."
+  ]
+}

adjust_bottle_oc2/adjust_bottle_oc2/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick up the medium dark brown bottle and place standing.",
+    "Grab the dark drink bottle with logo and put it standing on the table.",
+    "Grab the dark drink bottle with logo and place it standing at target.",
+    "Pick up the smooth bottle with red lid and stand it at the target.",
+    "With the left arm, stand the medium dark brown bottle upright on the table.",
+    "Reorient the dark drink bottle with logo upright and place on table.",
+    "Use the left arm to lift the dark drink bottle with logo and set it standing on the table.",
+    "Lift the bottle with ridges on bottom and set it upright on table.",
+    "Grab the plastic drink bottle with the left arm, reorient upright, place on table.",
+    "Grab the brown bottle with red label and place it upright on the table.",
+    "Grab the Coca-Cola bottle and set it standing on the table.",
+    "Take the red-capped bottle and set it upright on the table.",
+    "Use the left arm to stand the plastic drink bottle on the table.",
+    "Grab the brown bottle with red label with the left arm and set it down upright.",
+    "Pick the bottle with white neck and red top and place it standing on the table.",
+    "Lift the narrow-necked bottle with the left arm, reorient, and set down upright.",
+    "Pick up the plastic drink bottle and place it standing at the target.",
+    "Lift the hand-sized soda bottle upright and set it on the table.",
+    "Lift the Coca-Cola bottle and stand it on the table.",
+    "Take the bottle with ridges on bottom with the left arm and stand it on the table.",
+    "Take the hand-sized soda bottle and place upright on the table.",
+    "With the left arm, lift the narrow-necked bottle and place upright on table.",
+    "With the left arm, pick the dark drink bottle with logo up and set standing on table.",
+    "Pick up the long thin bottle and put it upright on table.",
+    "Pick the hand-sized soda bottle up and stand it on the table.",
+    "Use the left arm to pick up the narrow-necked bottle and set it upright.",
+    "Grab the long thin bottle, reorient upright, set on table.",
+    "Pick up the bottle with ridges on bottom and stand it upright on the table.",
+    "Pick the plastic drink bottle up, stand it, and place on the table.",
+    "Stand the plastic drink bottle upright on the table after lifting.",
+    "Use the left arm to grab and stand the dark drink bottle with logo on table.",
+    "Use the left arm to reorient the bottle with ridges on bottom and place on table.",
+    "Lift the long thin bottle and put it standing on the table.",
+    "Grab the hand-sized soda bottle with the left arm, stand on table.",
+    "Lift the red-capped bottle, turn it upright, and put it down standing.",
+    "Place the bottle with white neck and red top upright on the table with the left arm.",
+    "Take the narrow-necked bottle up and place standing on table.",
+    "Stand the dark drink bottle with logo up on the table with the left arm.",
+    "Use the left arm to grab the red-capped bottle and stand it on table.",
+    "With the left arm, grab the brown bottle with red label and stand it on the table.",
+    "Use the left arm to pick up the dark drink bottle with logo and place standing.",
+    "Grab the smooth bottle with red lid and put it standing on the table.",
+    "Grab the hand-sized soda bottle and place it standing at target.",
+    "Pick up the hand-sized soda bottle and stand it at the target.",
+    "With the left arm, stand the plastic drink bottle upright on the table.",
+    "Reorient the smooth bottle with red lid upright and place on table.",
+    "Use the left arm to lift the red-capped bottle and set it standing on the table.",
+    "Lift the bottle with white neck and red top and set it upright on table.",
+    "Grab the hand-sized soda bottle with the left arm, reorient upright, place on table.",
+    "Grab the dark drink bottle with logo and place it upright on the table.",
+    "Grab the smooth bottle with red lid and set it standing on the table.",
+    "Take the plastic drink bottle and set it upright on the table.",
+    "Use the left arm to stand the dark drink bottle with logo on the table.",
+    "Grab the narrow-necked bottle with the left arm and set it down upright.",
+    "Pick the bottle with ridges on bottom and place it standing on the table.",
+    "Lift the brown bottle with red label with the left arm, reorient, and set down upright.",
+    "Pick up the bottle with ridges on bottom and place it standing at the target.",
+    "Lift the bottle with ridges on bottom upright and set it on the table.",
+    "Lift the dark drink bottle with logo and stand it on the table.",
+    "Take the dark drink bottle with logo with the left arm and stand it on the table.",
+    "Take the brown bottle with red label and place upright on the table.",
+    "With the left arm, lift the medium dark brown bottle and place upright on table.",
+    "With the left arm, pick the dark drink bottle with logo up and set standing on table.",
+    "Pick up the plastic drink bottle and put it upright on table.",
+    "Pick the hand-sized soda bottle up and stand it on the table.",
+    "Use the left arm to pick up the smooth bottle with red lid and set it upright.",
+    "Grab the brown bottle with red label, reorient upright, set on table.",
+    "Pick up the Coca-Cola bottle and stand it upright on the table.",
+    "Pick the bottle with ridges on bottom up, stand it, and place on the table.",
+    "Stand the dark drink bottle with logo upright on the table after lifting.",
+    "Use the left arm to grab and stand the hand-sized soda bottle on table.",
+    "Use the left arm to reorient the smooth bottle with red lid and place on table.",
+    "Lift the bottle with ridges on bottom and put it standing on the table.",
+    "Grab the Coca-Cola bottle with the left arm, stand on table.",
+    "Lift the hand-sized soda bottle, turn it upright, and put it down standing.",
+    "Place the bottle with white neck and red top upright on the table with the left arm.",
+    "Take the Coca-Cola bottle up and place standing on table.",
+    "Stand the hand-sized soda bottle up on the table with the left arm.",
+    "Use the left arm to grab the red-capped bottle and stand it on table.",
+    "With the left arm, grab the bottle with white neck and red top and stand it on the table.",
+    "Use the left arm to pick up the plastic drink bottle and place standing.",
+    "Grab the plastic drink bottle and put it standing on the table.",
+    "Grab the smooth bottle with red lid and place it standing at target.",
+    "Pick up the brown bottle with red label and stand it at the target.",
+    "With the left arm, stand the dark drink bottle with logo upright on the table.",
+    "Reorient the bottle with ridges on bottom upright and place on table.",
+    "Use the left arm to lift the brown bottle with red label and set it standing on the table.",
+    "Lift the plastic drink bottle and set it upright on table.",
+    "Grab the red-capped bottle with the left arm, reorient upright, place on table.",
+    "Grab the red-capped bottle and place it upright on the table.",
+    "Grab the long thin bottle and set it standing on the table.",
+    "Take the bottle with white neck and red top and set it upright on the table.",
+    "Use the left arm to stand the brown bottle with red label on the table.",
+    "Grab the bottle with white neck and red top with the left arm and set it down upright.",
+    "Pick the long thin bottle and place it standing on the table.",
+    "Lift the hand-sized soda bottle with the left arm, reorient, and set down upright.",
+    "Pick up the hand-sized soda bottle and place it standing at the target.",
+    "Lift the bottle with white neck and red top upright and set it on the table.",
+    "Lift the medium dark brown bottle and stand it on the table.",
+    "Take the plastic drink bottle with the left arm and stand it on the table."
+  ],
+  "unseen": [
+    "Place the brown bottle standing on the table.",
+    "Set the brown bottle standing at the target.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Lift and stand the brown bottle on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Pick the brown bottle and place upright on table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Set the brown bottle upright on the table.",
+    "Put the brown bottle standing on the table.",
+    "Pick the brown bottle and place upright on table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Set the brown bottle standing at the target.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Set the brown bottle upright on the table.",
+    "Put the brown bottle standing on the table.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Set the brown bottle standing at the target.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Lift and stand the brown bottle on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Set the brown bottle upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Place the brown bottle standing on the table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Pick the brown bottle and place upright on table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Stand the brown bottle upright on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Set the brown bottle upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Set the brown bottle upright on the table.",
+    "Put the brown bottle standing on the table.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Place the brown bottle standing on the table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Stand the brown bottle upright on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Set the brown bottle upright on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Place the brown bottle standing on the table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Stand the brown bottle upright on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Pick the brown bottle and place upright on table."
+  ]
+}

adjust_bottle_oc2/adjust_bottle_oc2/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Reorient the narrow-necked bottle upright and place on table.",
+    "Pick the long thin bottle and place it standing on the table.",
+    "Lift the hand-sized soda bottle and set it upright on table.",
+    "Stand the hand-sized soda bottle up on the table with the left arm.",
+    "Grab the plastic drink bottle with the left arm and set it down upright.",
+    "Pick up the bottle with white neck and red top and stand it at the target.",
+    "Pick the red-capped bottle up, stand it, and place on the table.",
+    "Use the left arm to lift the dark drink bottle with logo and set it standing on the table.",
+    "Place the bottle with ridges on bottom upright on the table with the left arm.",
+    "Use the left arm to pick up the narrow-necked bottle and place standing.",
+    "Grab the dark drink bottle with logo with the left arm, stand on table.",
+    "Use the left arm to grab and stand the plastic drink bottle on table.",
+    "Grab the bottle with white neck and red top and set it standing on the table.",
+    "With the left arm, grab the smooth bottle with red lid and stand it on the table.",
+    "With the left arm, stand the Coca-Cola bottle upright on the table.",
+    "Grab the red-capped bottle and place it standing at target.",
+    "Lift the long thin bottle, turn it upright, and put it down standing.",
+    "Grab the bottle with white neck and red top, reorient upright, set on table.",
+    "Grab the bottle with white neck and red top with the left arm, reorient upright, place on table.",
+    "Pick the brown bottle with red label up and stand it on the table.",
+    "Grab the medium dark brown bottle and put it standing on the table.",
+    "Lift the brown bottle with red label and stand it on the table.",
+    "Pick up the bottle with ridges on bottom and place it standing at the target.",
+    "Lift the smooth bottle with red lid upright and set it on the table.",
+    "Take the long thin bottle up and place standing on table.",
+    "Use the left arm to grab the bottle with ridges on bottom and stand it on table.",
+    "Stand the medium dark brown bottle upright on the table after lifting.",
+    "Use the left arm to stand the plastic drink bottle on the table.",
+    "Grab the dark drink bottle with logo and place it upright on the table.",
+    "Lift the long thin bottle and put it standing on the table.",
+    "Take the dark drink bottle with logo and place upright on the table.",
+    "With the left arm, lift the red-capped bottle and place upright on table.",
+    "Use the left arm to pick up the hand-sized soda bottle and set it upright.",
+    "Lift the plastic drink bottle with the left arm, reorient, and set down upright.",
+    "With the left arm, pick the medium dark brown bottle up and set standing on table.",
+    "Pick up the Coca-Cola bottle and put it upright on table.",
+    "Take the red-capped bottle and set it upright on the table.",
+    "Take the narrow-necked bottle with the left arm and stand it on the table.",
+    "Pick up the hand-sized soda bottle and stand it upright on the table.",
+    "Use the left arm to reorient the smooth bottle with red lid and place on table.",
+    "Reorient the Coca-Cola bottle upright and place on table.",
+    "Pick the medium dark brown bottle and place it standing on the table.",
+    "Lift the bottle with white neck and red top and set it upright on table.",
+    "Stand the bottle with ridges on bottom up on the table with the left arm.",
+    "Grab the red-capped bottle with the left arm and set it down upright.",
+    "Pick up the narrow-necked bottle and stand it at the target.",
+    "Pick the long thin bottle up, stand it, and place on the table.",
+    "Use the left arm to lift the long thin bottle and set it standing on the table.",
+    "Place the dark drink bottle with logo upright on the table with the left arm.",
+    "Use the left arm to pick up the brown bottle with red label and place standing.",
+    "Grab the long thin bottle with the left arm, stand on table.",
+    "Use the left arm to grab and stand the bottle with white neck and red top on table.",
+    "Grab the bottle with white neck and red top and set it standing on the table.",
+    "With the left arm, grab the brown bottle with red label and stand it on the table.",
+    "With the left arm, stand the dark drink bottle with logo upright on the table.",
+    "Grab the hand-sized soda bottle and place it standing at target.",
+    "Lift the brown bottle with red label, turn it upright, and put it down standing.",
+    "Grab the brown bottle with red label, reorient upright, set on table.",
+    "Grab the long thin bottle with the left arm, reorient upright, place on table.",
+    "Pick the red-capped bottle up and stand it on the table.",
+    "Grab the brown bottle with red label and put it standing on the table.",
+    "Lift the dark drink bottle with logo and stand it on the table.",
+    "Pick up the red-capped bottle and place it standing at the target.",
+    "Lift the medium dark brown bottle upright and set it on the table.",
+    "Take the smooth bottle with red lid up and place standing on table.",
+    "Use the left arm to grab the long thin bottle and stand it on table.",
+    "Stand the hand-sized soda bottle upright on the table after lifting.",
+    "Use the left arm to stand the narrow-necked bottle on the table.",
+    "Grab the medium dark brown bottle and place it upright on the table.",
+    "Lift the plastic drink bottle and put it standing on the table.",
+    "Take the bottle with ridges on bottom and place upright on the table.",
+    "With the left arm, lift the medium dark brown bottle and place upright on table.",
+    "Use the left arm to pick up the red-capped bottle and set it upright.",
+    "Lift the dark drink bottle with logo with the left arm, reorient, and set down upright.",
+    "With the left arm, pick the bottle with white neck and red top up and set standing on table.",
+    "Pick up the narrow-necked bottle and put it upright on table.",
+    "Take the long thin bottle and set it upright on the table.",
+    "Take the smooth bottle with red lid with the left arm and stand it on the table.",
+    "Pick up the narrow-necked bottle and stand it upright on the table.",
+    "Use the left arm to reorient the red-capped bottle and place on table.",
+    "Reorient the bottle with white neck and red top upright and place on table.",
+    "Pick the brown bottle with red label and place it standing on the table.",
+    "Lift the medium dark brown bottle and set it upright on table.",
+    "Stand the hand-sized soda bottle up on the table with the left arm.",
+    "Grab the Coca-Cola bottle with the left arm and set it down upright.",
+    "Pick up the plastic drink bottle and stand it at the target.",
+    "Pick the hand-sized soda bottle up, stand it, and place on the table.",
+    "Use the left arm to lift the hand-sized soda bottle and set it standing on the table.",
+    "Place the bottle with white neck and red top upright on the table with the left arm.",
+    "Use the left arm to pick up the brown bottle with red label and place standing.",
+    "Grab the medium dark brown bottle with the left arm, stand on table.",
+    "Use the left arm to grab and stand the dark drink bottle with logo on table.",
+    "Grab the bottle with white neck and red top and set it standing on the table.",
+    "With the left arm, grab the red-capped bottle and stand it on the table.",
+    "With the left arm, stand the long thin bottle upright on the table.",
+    "Grab the narrow-necked bottle and place it standing at target.",
+    "Lift the smooth bottle with red lid, turn it upright, and put it down standing.",
+    "Grab the medium dark brown bottle, reorient upright, set on table.",
+    "Grab the Coca-Cola bottle with the left arm, reorient upright, place on table.",
+    "Pick the dark drink bottle with logo up and stand it on the table."
+  ],
+  "unseen": [
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Put the brown bottle standing on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Grab the brown bottle and stand on table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Lift and stand the brown bottle on the table.",
+    "Stand the brown bottle upright on the table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Set the brown bottle upright on the table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the brown bottle and stand on table.",
+    "Set the brown bottle standing at the target.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Put the brown bottle standing on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Set the brown bottle standing at the target.",
+    "Lift and stand the brown bottle on the table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Set the plastic soda bottle standing at the target.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Set the brown bottle upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Put the plastic soda bottle standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Grab the bottle with red screw cap and stand on table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Put the brown bottle standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Stand the brown bottle upright on the table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Pick the brown bottle and place upright on table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Put the brown bottle standing on the table.",
+    "Reorient the brown bottle and set on table.",
+    "Grab the brown bottle and stand on table.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Stand the bottle with red screw cap upright on the table."
+  ]
+}

adjust_bottle_oc2/adjust_bottle_oc2/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the Coca-Cola bottle and place it upright on the table.",
+    "Grab the hand-sized soda bottle and put it standing on the table.",
+    "Grab the red-capped bottle with the left arm, reorient upright, place on table.",
+    "Take the long thin bottle with the left arm and stand it on the table.",
+    "Stand the dark drink bottle with logo up on the table with the left arm.",
+    "Pick the Coca-Cola bottle up and stand it on the table.",
+    "Stand the dark drink bottle with logo upright on the table after lifting.",
+    "With the left arm, grab the long thin bottle and stand it on the table.",
+    "Reorient the smooth bottle with red lid upright and place on table.",
+    "Grab the long thin bottle and place it standing at target.",
+    "Place the long thin bottle upright on the table with the left arm.",
+    "Lift the Coca-Cola bottle, turn it upright, and put it down standing.",
+    "With the left arm, stand the hand-sized soda bottle upright on the table.",
+    "With the left arm, lift the hand-sized soda bottle and place upright on table.",
+    "Use the left arm to lift the Coca-Cola bottle and set it standing on the table.",
+    "Grab the narrow-necked bottle with the left arm and set it down upright.",
+    "Pick up the brown bottle with red label and stand it at the target.",
+    "Pick up the smooth bottle with red lid and stand it upright on the table.",
+    "Use the left arm to grab the dark drink bottle with logo and stand it on table.",
+    "Lift the plastic drink bottle and put it standing on the table.",
+    "Pick up the medium dark brown bottle and put it upright on table.",
+    "Take the narrow-necked bottle and place upright on the table.",
+    "Use the left arm to reorient the dark drink bottle with logo and place on table.",
+    "Lift the medium dark brown bottle with the left arm, reorient, and set down upright.",
+    "Pick up the narrow-necked bottle and place it standing at the target.",
+    "Take the Coca-Cola bottle and set it upright on the table.",
+    "Grab the brown bottle with red label with the left arm, stand on table.",
+    "Lift the bottle with white neck and red top and set it upright on table.",
+    "Use the left arm to grab and stand the red-capped bottle on table.",
+    "Use the left arm to stand the narrow-necked bottle on the table.",
+    "Take the bottle with ridges on bottom up and place standing on table.",
+    "With the left arm, pick the long thin bottle up and set standing on table.",
+    "Lift the bottle with white neck and red top and stand it on the table.",
+    "Use the left arm to pick up the plastic drink bottle and place standing.",
+    "Grab the brown bottle with red label and set it standing on the table.",
+    "Grab the dark drink bottle with logo, reorient upright, set on table.",
+    "Lift the hand-sized soda bottle upright and set it on the table.",
+    "Pick the narrow-necked bottle and place it standing on the table.",
+    "Pick the narrow-necked bottle up, stand it, and place on the table.",
+    "Use the left arm to pick up the dark drink bottle with logo and set it upright.",
+    "Grab the medium dark brown bottle and place it upright on the table.",
+    "Grab the plastic drink bottle and put it standing on the table.",
+    "Grab the bottle with white neck and red top with the left arm, reorient upright, place on table.",
+    "Take the plastic drink bottle with the left arm and stand it on the table.",
+    "Stand the long thin bottle up on the table with the left arm.",
+    "Pick the dark drink bottle with logo up and stand it on the table.",
+    "Stand the smooth bottle with red lid upright on the table after lifting.",
+    "With the left arm, grab the narrow-necked bottle and stand it on the table.",
+    "Reorient the plastic drink bottle upright and place on table.",
+    "Grab the bottle with white neck and red top and place it standing at target.",
+    "Place the bottle with ridges on bottom upright on the table with the left arm.",
+    "Lift the smooth bottle with red lid, turn it upright, and put it down standing.",
+    "With the left arm, stand the hand-sized soda bottle upright on the table.",
+    "With the left arm, lift the medium dark brown bottle and place upright on table.",
+    "Use the left arm to lift the red-capped bottle and set it standing on the table.",
+    "Grab the dark drink bottle with logo with the left arm and set it down upright.",
+    "Pick up the Coca-Cola bottle and stand it at the target.",
+    "Pick up the brown bottle with red label and stand it upright on the table.",
+    "Use the left arm to grab the dark drink bottle with logo and stand it on table.",
+    "Lift the medium dark brown bottle and put it standing on the table.",
+    "Pick up the smooth bottle with red lid and put it upright on table.",
+    "Take the red-capped bottle and place upright on the table.",
+    "Use the left arm to reorient the bottle with ridges on bottom and place on table.",
+    "Lift the long thin bottle with the left arm, reorient, and set down upright.",
+    "Pick up the bottle with ridges on bottom and place it standing at the target.",
+    "Take the plastic drink bottle and set it upright on the table.",
+    "Grab the smooth bottle with red lid with the left arm, stand on table.",
+    "Lift the long thin bottle and set it upright on table.",
+    "Use the left arm to grab and stand the bottle with ridges on bottom on table.",
+    "Use the left arm to stand the long thin bottle on the table.",
+    "Take the Coca-Cola bottle up and place standing on table.",
+    "With the left arm, pick the bottle with white neck and red top up and set standing on table.",
+    "Lift the long thin bottle and stand it on the table.",
+    "Use the left arm to pick up the red-capped bottle and place standing.",
+    "Grab the dark drink bottle with logo and set it standing on the table.",
+    "Grab the narrow-necked bottle, reorient upright, set on table.",
+    "Lift the long thin bottle upright and set it on the table.",
+    "Pick the long thin bottle and place it standing on the table.",
+    "Pick the Coca-Cola bottle up, stand it, and place on the table.",
+    "Use the left arm to pick up the plastic drink bottle and set it upright.",
+    "Grab the red-capped bottle and place it upright on the table.",
+    "Grab the bottle with white neck and red top and put it standing on the table.",
+    "Grab the smooth bottle with red lid with the left arm, reorient upright, place on table.",
+    "Take the medium dark brown bottle with the left arm and stand it on the table.",
+    "Stand the bottle with white neck and red top up on the table with the left arm.",
+    "Pick the red-capped bottle up and stand it on the table.",
+    "Stand the Coca-Cola bottle upright on the table after lifting.",
+    "With the left arm, grab the dark drink bottle with logo and stand it on the table.",
+    "Reorient the narrow-necked bottle upright and place on table.",
+    "Grab the narrow-necked bottle and place it standing at target.",
+    "Place the bottle with ridges on bottom upright on the table with the left arm.",
+    "Lift the bottle with ridges on bottom, turn it upright, and put it down standing.",
+    "With the left arm, stand the hand-sized soda bottle upright on the table.",
+    "With the left arm, lift the brown bottle with red label and place upright on table.",
+    "Use the left arm to lift the long thin bottle and set it standing on the table.",
+    "Grab the red-capped bottle with the left arm and set it down upright.",
+    "Pick up the smooth bottle with red lid and stand it at the target.",
+    "Pick up the red-capped bottle and stand it upright on the table.",
+    "Use the left arm to grab the Coca-Cola bottle and stand it on table.",
+    "Lift the medium dark brown bottle and put it standing on the table."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle and stand on table.",
+    "Reorient the brown bottle and set on table.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Set the plastic soda bottle standing at the target.",
+    "Put the brown bottle standing on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Place the plastic soda bottle standing on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Reorient the brown bottle and set on table.",
+    "Pick the bottle with red screw cap and place upright on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Stand the bottle with red screw cap on the table using the left arm.",
+    "Set the brown bottle standing at the target.",
+    "Put the plastic soda bottle standing on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Reorient the brown bottle and set on table.",
+    "Pick the brown bottle and place upright on table.",
+    "Stand the bottle with red screw cap upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Put the plastic soda bottle standing on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the plastic soda bottle upright on the table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Pick the brown bottle and place upright on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Set the brown bottle standing at the target.",
+    "Put the bottle with red screw cap standing on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Reorient the bottle with red screw cap and set on table.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Set the bottle with red screw cap standing at the target.",
+    "Put the brown bottle standing on the table.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Set the brown bottle upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Reorient the plastic soda bottle and set on table.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the brown bottle upright on the table.",
+    "Stand the plastic soda bottle on the table using the left arm.",
+    "Set the brown bottle standing at the target.",
+    "Put the plastic soda bottle standing on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the brown bottle upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Grab the plastic soda bottle and stand on table.",
+    "Reorient the brown bottle and set on table.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the plastic soda bottle upright on the table.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Set the brown bottle standing at the target.",
+    "Put the plastic soda bottle standing on the table.",
+    "Lift and stand the plastic soda bottle on the table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the bottle with red screw cap standing on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Reorient the brown bottle and set on table.",
+    "Pick the brown bottle and place upright on table.",
+    "Stand the brown bottle upright on the table.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Set the brown bottle standing at the target.",
+    "Put the brown bottle standing on the table.",
+    "Lift and stand the brown bottle on the table.",
+    "Set the bottle with red screw cap upright on the table.",
+    "Place the brown bottle standing on the table.",
+    "Grab the brown bottle and stand on table.",
+    "Reorient the brown bottle and set on table.",
+    "Pick the plastic soda bottle and place upright on table.",
+    "Stand the brown bottle upright on the table.",
+    "Stand the brown bottle on the table using the left arm.",
+    "Set the plastic soda bottle standing at the target.",
+    "Put the plastic soda bottle standing on the table.",
+    "Lift and stand the bottle with red screw cap on the table.",
+    "Set the brown bottle upright on the table.",
+    "Place the bottle with red screw cap standing on the table."
+  ]
+}

adjust_bottle_oc2/adjust_bottle_oc2/scene_info.json

@@ -0,0 +1,57 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    }
+}

adjust_bottle_oc2/adjust_bottle_oc2/seed.txt

@@ -0,0 +1 @@
+0 1 3 4 6 

adjust_bottle_oc2/adjust_bottle_oc2/video/episode0.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8debdca6456cb3ef9327a6c760059b7fd0ca39a41c9d88d025f52a454e935fc6
+size 118447

adjust_bottle_oc2/adjust_bottle_oc2/video/episode1.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c25f4014474ec5836d2f0b0a8b19548bb46a80aa85cf4f5190519b66b5854df0
+size 114986

adjust_bottle_oc2/adjust_bottle_oc2/video/episode2.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eddaf31a5e41a9cd1a277a996b98fdfcefdbc2fb40592bf4c44bf990db7ff049
+size 115349

adjust_bottle_oc2/adjust_bottle_oc2/video/episode3.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2315785f3a513103c661d4c109415c6243473935abb2d13a0cf2a57150cf4f
+size 116388

adjust_bottle_oc2/adjust_bottle_oc2/video/episode4.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0de2d340e3cf99c4f24899dc22bf628d0ae18d30ebae87b0e34fab4fb8a3d9c
+size 120057