add blocks_in_two_cabinets test demos

Update inspect_and_pick test dataset (removed forced stratified variations)

Restore previous blocks_in_drawers and blocks_in_drawers_hard datasets

update iap test demos with revised language instruction

regenerate blocks_in_drawers_hard test dataset with stratified variations and pre-approach fix

add inspect_and_pick test dataset

regenerate blocks_in_drawers test dataset with stratified variations and pre-approach fix

add blocks_in_drawers_hard test dataset

add blocks_in_drawers test dataset

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